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end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000044/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37696a3ffdcb4ad24bc79d88eea6af0579655548 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,370 @@ +{ + "layout_id": 60, + "style_id": 48, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "offset": [ + 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"cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Press the start button on the microwave.", + "fixture_refs": {}, + "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": [ + 0.5231977537082119, + -0.6404799920464564, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000048/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1fa69e0868615cb3b1451ee3e06e5101acac4ac --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 46, + "style_id": 47, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.053479191373893266, + 0.014606661795407205, + -0.2025161923777832 + ], + "size": [ + 0.3080081778774039, + 0.28386552360551975 + ], + "height": 0.41814223378935667, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "all", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + 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-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": [ + 1.399421606177919, + -1.2366419484149804, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000049/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d81b7ba15e0b194c14faab78aebce9e48c33f78 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 45, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.09280843465084945, + 0.0021894529816959413, + -0.16364017629037378 + ], + "size": [ + 0.3382335386879464, + 0.24720263046298316 + ], + "height": 0.32833388097055616, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "all", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2100339210374282, + -0.8893195848933039, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000065/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81868d388a10d45fcad563036f3d72b3c428c927 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 17, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + 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-1.778837903144442, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000066/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae3d78bfc7f3f35304734c7be87d0b1a6181cef8 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 39, + "style_id": 53, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_front_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", 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"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" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": 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"oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Press the start button on the microwave.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 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0000000000000000000000000000000000000000..cd467ecd758918b7b5511a4e1cb3164b218cd2bd --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 60, + "style_id": 60, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.07867035693848269, + -0.0027137561555638234, + -0.1621421195471264 + ], + "size": [ + 0.4178628082650453, + 0.3023457928893496 + ], + "height": 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0704644722276817, + -0.8651523865373769, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000069/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aedb5b614fd303d982a1bf3147da0d1671c5f65a --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,349 @@ +{ + "layout_id": 36, + "style_id": 33, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + 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/dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 17, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.062253355892267034, + 0.007252903507623795, + -0.16663067976124954 + ], + "size": [ + 0.41438653749975474, + 0.3438528128459972 + ], + "height": 0.34259020441416727, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "all", + 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file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000098/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e011b254f76e39d4016b08b97e34b9d1df6e54b9 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,349 @@ +{ + "layout_id": 36, + "style_id": 52, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "coffee_cup", + "drink" + ], + "groups": [ + "all" + ], + "cat": "coffee_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_11/model.xml" + }, + "reset_region": { + "offset": [ + 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@@ +{ + "layout_id": 23, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0498006283205842, + 0.016632101424469345, + -0.19912873755282323 + ], + "size": [ + 0.28239992380282897, + 0.3401739200554127 + ], + "height": 0.4024155010975151, + "name": "tray" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + 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a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000106/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000106/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e04f22ea19e4aaf4292eb8f8b13f4e0f276c7d37 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000106/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 24, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": 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a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000116/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000116/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92d57150b1181326770eccf3a9830bec3a9fce9c --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000116/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 26, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "pretrain", + "mjcf_path": 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"stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Press the start button on the microwave.", + "fixture_refs": {}, + "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": [ + 1.103372215017209, + -2.7378647563762004, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000136/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000136/source.json new file mode 100644 index 0000000000000000000000000000000000000000..ff7e110a8536455e80d49fa9928404faccae0145 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000136/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tMTPretrainHuman", + "source_episode_index": 29, + "source_demo_key": "demo_29", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tMTPretrainHuman", + "is_success": true +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000137/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000137/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ceb89de8c0a65ca3d7f77e0bc7c0b50c6fb58a9 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000137/ep_meta.json @@ -0,0 +1,418 @@ +{ + "layout_id": 18, + "style_id": 25, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.08638706334437687, + -0.033523597948505984, + -0.16308867408954242 + ], + "size": [ + 0.359355672408551, + 0.28012324909211994 + ], + "height": 0.32371534222931797, + "name": "tray" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": 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"parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.2724823138072955, + -1.123461273491731, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000137/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000137/source.json new file mode 100644 index 0000000000000000000000000000000000000000..85505d7e6d0d89fd865067cc1d563d6092cde397 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000137/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMPretrainAll", + "source_episode_index": 0, + "source_demo_key": "demo_0", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMPretrainAll", + "is_success": true +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000138/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000138/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c123abb3aeba9b2d32708cfa4f45bebd8d486a7 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000138/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 29, + "style_id": 60, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "offset": [ + -0.07763522066297633, + -0.0027137561555638234, + -0.16000867060571686 + ], + "size": [ + 0.4123646134194525, + 0.3023457928893496 + ], + "height": 0.30122056501164307, + "name": "tray" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + 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a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000147/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000147/source.json new file mode 100644 index 0000000000000000000000000000000000000000..5eca8ad66c51f70fe8b3b0be09532fbeb02a886d --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000147/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMPretrainAll", + "source_episode_index": 10, + "source_demo_key": "demo_10", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMPretrainAll", + "is_success": true +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000149/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000149/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..468b80270efa1875d3413b38b537fd7848688e46 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000149/ep_meta.json @@ -0,0 +1,409 @@ +{ + "layout_id": 13, + "style_id": 27, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005147692477039112, + 0.0121457666891846, + -0.1479454202909003 + ], + "size": [ + 0.2688657705493946, + 0.30497268320643156 + ], + "height": 0.3067419058872784, + "name": "tray" + } + } + ], + "fixtures": { + "wall_left_1_room": { + 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a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000151/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000151/source.json new file mode 100644 index 0000000000000000000000000000000000000000..6a174c09a4bfb2cbb68f3cf58dd989384e67932e --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000151/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMPretrainAll", + "source_episode_index": 14, + "source_demo_key": "demo_14", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMPretrainAll", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000155/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000155/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa6a95efc52acdbc26b80cdf725b085de74987cd --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000155/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 25, + "style_id": 57, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.07738100668293346, + 0.019839386496382012, + -0.16603893702054998 + ], + "size": [ + 0.36310314153429024, + 0.26799124157476417 + ], + "height": 0.34289615381645205, + "name": "tray" + } + }, + { + "name": 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b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000155/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMPretrainAll", + "source_episode_index": 18, + "source_demo_key": "demo_18", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMPretrainAll", + "is_success": true +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000160/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000160/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be62e62be870626c8a6aab277c3c9fd200d0eb59 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000160/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 16, + "style_id": 21, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + 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0000000000000000000000000000000000000000..9dbf812e415c2530200a7d171b3601f394990e91 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000160/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMPretrainAll", + "source_episode_index": 23, + "source_demo_key": "demo_23", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMPretrainAll", + "is_success": true +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000162/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000162/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28b9df00e933a2097047a1813a290f48afdc53db --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000162/ep_meta.json @@ -0,0 +1,349 @@ +{ + "layout_id": 44, + "style_id": 56, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fork", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "fork", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.053962144789393124, + 0.04836509561278877, + -0.15594497132464974 + ], + "size": [ + 0.2806220485701288, + 0.29127646447289557 + ], + "height": 0.31999260839485133, + "name": "tray" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + 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b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000196/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicTargetOnly100", + "source_episode_index": 29, + "source_demo_key": "demo_29", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicTargetOnly100", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000197/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000197/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc694e76d68454a5836101922e575def3847867b --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000197/ep_meta.json @@ -0,0 +1,361 @@ +{ + "layout_id": 14, + "style_id": 49, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + 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"init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000197/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000197/source.json new file mode 100644 index 0000000000000000000000000000000000000000..1932c5bc7365160bef13f50d850b3dbe45fb51b0 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000197/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain10", + "source_episode_index": 0, + "source_demo_key": "demo_0", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain10", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000200/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000200/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02964aca2a264927d55831a6be9601e6eb2bec14 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000200/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 50, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.03556052273556939, + 0.02017039133809192, + -0.14025881374567925 + ], + "size": [ + 0.26835339407212955, 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a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000200/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000200/source.json new file mode 100644 index 0000000000000000000000000000000000000000..77ca90db57947e6c1f4054212640091648e3903c --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000200/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain10", + "source_episode_index": 3, + "source_demo_key": "demo_3", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain10", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000202/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000202/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71dd71b954ff4797976cfc644d6103dc8967af80 --- /dev/null +++ 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a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000202/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000202/source.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e311fe3f0ff109b99a033ad0c28373c4f3fa2b --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000202/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain10", + "source_episode_index": 5, + "source_demo_key": "demo_5", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain10", + "is_success": true +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000203/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000203/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70719862329c856592e7dd812671b37f94e189a3 --- /dev/null +++ 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"gr00tFMAtomicPosttrain10", + "source_episode_index": 23, + "source_demo_key": "demo_23", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain10", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000226/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000226/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eef82a4887b5c399ad5e0553e4aa459dca85f022 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000226/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 50, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.07559013892678133, + 0.04242256882320486, + -0.1915511089972964 + ], + "size": [ + 0.3858221833587978, + 0.37692979564096074 + ], + "height": 0.3851442019075586, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "all", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": 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0000000000000000000000000000000000000000..a96f6b7787ebf44c04ed7af807fe99e6b69c4bfd --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000241/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain30", + "source_episode_index": 14, + "source_demo_key": "demo_14", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain30", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000242/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000242/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..383f6b00dcb332bfbe2de213a410f27befa20526 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000242/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 26, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + 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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": [ + 2.312242002494962, + -0.90876516452925, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000242/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000242/source.json new file mode 100644 index 0000000000000000000000000000000000000000..ee7da5d0a1cb1114697db98d7e29af28f87a6327 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000242/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain30", + "source_episode_index": 15, + "source_demo_key": "demo_15", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain30", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000243/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000243/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a276e730fa4d5bdfe181f87b2bf88e816cf37c4 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000243/ep_meta.json @@ -0,0 +1,383 @@ +{ + "layout_id": 45, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.050464636698192, + 0.014968891282022417, + -0.2017837873868609 + ], + "size": [ + 0.28616525612020005, + 0.3061565280498714 + ], + "height": 0.4077810411121487, + "name": "tray" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + 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"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": [ + 2.084784852174809, + -0.8429239848884067, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000244/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000244/source.json new file mode 100644 index 0000000000000000000000000000000000000000..68d92c4f2daa5b11e50576c9158df306d8c5b1bd --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000244/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain30", + 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+ }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Press the start button on the microwave.", + "fixture_refs": {}, + "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, 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"fixture_refs": {}, + "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": [ + 4.940667535937218, + -3.6338851149622244, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000250/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000250/source.json new file mode 100644 index 0000000000000000000000000000000000000000..4b723f5b567a1ef0bd3f91161a49f60d7532828c --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000250/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain30", + "source_episode_index": 23, + "source_demo_key": "demo_23", + "source_dir": 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"/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + 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+ ], + "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": [ + 0.8672701060857261, + -2.4745920445189546, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000253/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000253/source.json new file mode 100644 index 0000000000000000000000000000000000000000..4becb2f0f488eb58b3e1925d829a85841b3151d9 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000253/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain30", + "source_episode_index": 26, + "source_demo_key": "demo_26", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain30", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000255/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000255/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..958f31da316073c19376d5606328adc503b021b1 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000255/ep_meta.json @@ -0,0 +1,383 @@ +{ + "layout_id": 36, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": 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+ "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "pretrain", + "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, 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a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000257/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000257/source.json new file mode 100644 index 0000000000000000000000000000000000000000..1f0a7cdc5a0585e9bebe2d1dc95bd5f8d6fbc9c7 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000257/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain100", + "source_episode_index": 0, + "source_demo_key": "demo_0", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain100", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000259/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000259/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dfb743d090a8b0bab5014668eb59a56d91721781 --- /dev/null +++ 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"camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.954137855298279, + -3.4091530913049413, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000261/source.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000261/source.json new file mode 100644 index 0000000000000000000000000000000000000000..4632fc71057ded9c17f48d4975dd05c012b5ab05 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000261/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain100", + "source_episode_index": 4, + "source_demo_key": "demo_4", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain100", + "is_success": false +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000264/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000264/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87619aca640d62ff7119bdd3fdd4b907c700d4f9 --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000264/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 14, + "style_id": 55, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + 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/dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000264/source.json @@ -0,0 +1,7 @@ +{ + "policy": "gr00tFMAtomicPosttrain100", + "source_episode_index": 7, + "source_demo_key": "demo_7", + "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnMicrowave/gr00tFMAtomicPosttrain100", + "is_success": true +} diff --git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000265/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000265/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1fad5ad1e4fe3a3cca2f90aebc7e9b84eaee08c --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000265/ep_meta.json @@ -0,0 +1,362 @@ +{ + "layout_id": 37, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 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--git a/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000273/ep_meta.json b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000273/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e2666f49a4ff86c68053e8fc68638f4cee0ce0e --- /dev/null +++ b/pretrain_atomic/TurnOnMicrowave/lerobot/extras/episode_000273/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 23, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "pretrain", + "mjcf_path": 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