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b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a5deb0bc46ccda98c917fe70cbe644c744204bd --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 54, + "style_id": 58, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], 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newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000064/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7771dd9f5418d801e1ad0404f3515cf62d425e04 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 37, + "style_id": 46, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06273676665000001, + 0.06750000000000002, + 0.065336915925 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + 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b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 31, + "style_id": 46, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.014443321789635422, + 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.007841583960404, + -1.1431861876071154, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000009/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2fb37c233ed05c1337455c8f9cc3356432b149b --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 31, + "style_id": 14, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + 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a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000012/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a80969199667c24fad4dfb7abd6b74f3c7161ed --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 15, + "style_id": 58, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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"wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the tangerine from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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": [ + 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": [ + 1.2270491457428327, + -0.604196038642098, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000013/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36c44776ec262b1e5983b882f0cf67ff22834999 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 20, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_front_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06839594549999997, + 0.06514787849999996, + 0.07482789599999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_1_front_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.0763607475, + 0.07636112699999999, + 0.13002319749999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "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/Mayonnaise006/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick the orange from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "fridge": "fridge_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "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": [ + 2.080869106051542, + -3.6021279873226715, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000016/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bde62f0ad3abd6dbd131331525dfbc58b437fe9 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 30, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": 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"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": [ + 1.0974374225548513, + -0.7253997021766058, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000017/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3835d4d64a67046a7bb5e9fc09d423652e3566c --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,422 @@ +{ + "layout_id": 58, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.10569093, + 0.10570362, + 0.29252193000000004 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice001/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": 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a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000019/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21c1de77bbd702c7716e844abe2e1c25ab9d9d48 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 58, + "style_id": 57, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + 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/dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 33, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 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"placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.002089651054327485, + 0.013068878439847637, + -0.10183124730909257 + ], + "size": [ + 0.5656818039855027, + 0.4235063266153047 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": 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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": [ + 0.7747024413593794, + -1.5091433261142697, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37d62c563855cc4af81dc333c43149447b7d841d --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 54, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0022655663683286698, + 0.010857582591533216, + -0.11495800748760356 + ], + "size": [ + 0.530276883110897, + 0.38660649279685244 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.034790636099999994, + 0.0973430568, + 0.16499999999999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3822772355326423, + -1.2656715742813356, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000023/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7248d6586217f6ca87dc76a2afb0237bbc3aeeac --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 27, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.005002112178883383, + 0.052224557608414796, + -0.025351272037670364 + ], + "size": [ + 0.556273390420648, + 0.560195931203616 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 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0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.151796038594082, + -2.8186479417395764, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000026/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7df778844781d631e3556621adef7eee2dee295 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 23, + "style_id": 51, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.00038938032384921994, + 0.04885561972301623, + -0.11916064616727744 + ], + "size": [ + 0.5184288087555988, + 0.47853979042627226 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.2566432, + 0.16957228000000002, + 0.10173730400000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + 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"gen_textures": {}, + "lang": "Pick the garlic from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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": [ + 0.6088936924934387, + 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"object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + 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0000000000000000000000000000000000000000..9e6cc53f125474d8fdfd1428ea607372b8af70e5 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 15, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": 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}, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the orange from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "fridge": "fridge_1_main_group_1" + }, + "cam_configs": { + 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3739619749404381, + -0.6375300264336834, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000031/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4932e82e1def1cee6263c132dc675eaedd7ff80a --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,399 @@ +{ + "layout_id": 52, + "style_id": 51, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + 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b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 52, + "style_id": 11, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.062111171395770465, + 0.10999998688697808, + 0.04926267939999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + }, + "reset_region": { + "offset": [ 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3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000035/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88229af83b49dcfcd69d8396ecf2db869f40117c --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 31, + "style_id": 58, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, 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{ + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick the squash from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0316534244943698, + -1.1584131444337233, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000036/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70e07f0648ba7b4517a0b0c838a7d7a482f23659 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 14, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.008085073147340166, + 0.09188007995893271, + -0.09815657463979086 + ], + "size": [ + 0.504611259933238, + 0.40621307029984355 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.05719011626240604, + 0.13750258354841272, + 0.048723098039999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.005781696963933214, + 0.10816006200036131, + 0.1793375689431966 + ], + "size": [ + 0.6156824766911978, + 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{ + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" 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"gen_textures": {}, + "lang": "Pick the tangerine from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "fridge": "fridge_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.002089651054327485, + 0.013068878439847637, + -0.10183124730909257 + ], + "size": [ + 0.5656818039855027, + 0.4235063266153047 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.12097239, + 0.12117099, + 0.0202998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": 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"bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the lime from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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": [ + 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": [ + 3.751549119838971, + -1.14385017381077, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000039/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b65eb072c4de42bc856c737a1a4477f8018f7fef --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 26, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0013911834338693752, + 0.07982894673461718, + -0.14093114619312602 + ], + "size": [ + 0.5953528441889928, + 0.4336801283224632 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.07903809439999998, + 0.07907211679999998, + 0.06379868959999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml" + }, + 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} + }, + "init_robot_base_pos": [ + 3.908548542488405, + -1.1208552835048011, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000040/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9bb9a2a8e76fe0deee64518bf76490cd4dfb4c2d --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 50, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.08848123623224141, + 0.15943492855563582, + 0.029097585694438335 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.138482718, + 0.13825403900000002, + 0.11386397000000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "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": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + 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+ }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + 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"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": [ + 1.0961273010204506, + -1.29743283285225, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000041/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7cfa48a86a4721aeef637db3d3435fc3f76e27a --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 26, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.058894473111836036, + 0.16791077536972682, + 0.1028120889924008 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": 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"sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "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" 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"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": [ + 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": [ + 3.768586677500731, + -1.165377603342186, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000042/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42befe8fb4f7980e7493f4f901a97817c6986237 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 28, + "style_id": 47, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.008393459861612995, + 0.061650265226465106, + -0.20949818804690976 + ], + "size": [ + 0.5801234750739421, + 0.5244053594369383 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + 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a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000043/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd9ad05094e2cbd776e7e5b6115f13567a52c2b5 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,528 @@ +{ + "layout_id": 15, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0013911834338693752, + 0.07982894673461718, + -0.1385559021561632 + ], + "size": [ + 0.5953528441889928, + 0.4336801283224632 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.04555069799999999, + 0.15141362999999997, + 0.032317336499999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.061803429000190147, + 0.14703956127590295, + 0.47861510849696937 + ], + "size": [ + 0.5939312600037702, + 0.3666785772776756 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + 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"toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the tomato from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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": [ + 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": [ + 1.1832323414165657, + -0.6583300879651939, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000045/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d8568494e430fd095d40a11168a064e02822db0 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,422 @@ +{ + "layout_id": 58, + "style_id": 20, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000046/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef95d422d6029ca0b57b2c588b66195e38660c7 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 17, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.008085073147340166, + 0.09188007995893271, + -0.09815657463979086 + ], + "size": [ + 0.504611259933238, + 0.40621307029984355 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.034790636099999994, + 0.0973430568, + 0.16499999999999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + 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b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,399 @@ +{ + "layout_id": 55, + "style_id": 52, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.04219590126329249, + 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a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000050/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96650f264d0d88da2749394d6ce7db68f5ae674a --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 16, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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"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": [ + 0.6190452559135216, + -1.0755908271030534, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000051/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2eea2b22a31698d9b82cd4a1d08d9645eee58c24 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 16, + "style_id": 20, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0022655663683286698, + 0.010857582591533216, + -0.11495800748760356 + ], + "size": [ + 0.530276883110897, + 0.38660649279685244 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.05362392416000001, + 0.06671328632000001, + 0.05288080112000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 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}, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + 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"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": [ + 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": [ + 0.5468807128096675, + -1.125779281360887, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000052/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1acbae1ec9a4f55e196727186439bccfeb60878e --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 56, + "style_id": 58, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.03495, + 0.107888, + 0.044468 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + }, + "reset_region": { + "offset": [ + 0.009340993154627067, + 0.05002843197901598, + 0.0004448260174556663 + ], + "size": [ + 0.4186631666708429, + 0.35783601730324466 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { 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"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" + }, + 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"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" + }, + 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100644 index 0000000000000000000000000000000000000000..b02b1ec2e4fd7a680ed7b0052e70f287b7a2633b --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 51, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.012919658098905995, + 0.11229077411789155, + -0.011415680051977404 + ], + "size": [ + 0.7172912599082715, + 0.537243236690721 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.08882838021083064, + 0.11274662615955319, + 0.17972446500000003 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_19/model.xml" + }, + 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{ + "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": [ + 2.3406664272266573, + -1.1282302251141594, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000055/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a9e54381bb3482de0891bb7c1b147360fe5775 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 42, + "style_id": 16, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 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"init_robot_base_pos": [ + 3.1289491069276885, + -1.1575548494419567, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000057/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e31868eda1184b6033359c7e837fdc4eeb48b248 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 33, + "style_id": 44, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010688701440657589, + 0.01686932194346115, + -0.0724762911348659 + ], + "size": [ + 0.6783799005623323, + 0.3783060880244239 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.11516254499999999, + 0.12279844999999999, + 0.0003388674999999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "waffle", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "waffle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 0.047456878484784734, + 0.20452769288193576 + ], + "size": [ + 0.7463954870310281, + 0.45736646837796535 + ], + "name": "fridge_shelf0" + } + } + ], + "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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { 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"robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.505687960798315, + -1.3889782465696545, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000058/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e37cb33946ebd63a980590bbb7fed588ba94e8e2 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 31, + "style_id": 14, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.005791279486290768, + 0.04932651142478889, + -0.21911760884235804 + ], + "size": [ + 0.5450336583834328, + 0.5707279705670051 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.05180815189430294, + 0.11999787362853181, + 0.031653902501665644 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bar", + "split": "train", + "mjcf_path": 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b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b837ca48966050b9c83534c9f9acf392494a846 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 19, + "style_id": 20, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" 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"min_size": [ + 0.014456, + 0.041804, + 0.02032 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.058148404649999964, + 0.058148404649999964, + 0.08618023970999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "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_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + } + ], + "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" + }, + 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@@ +{ + "layout_id": 42, + "style_id": 49, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.039628183899999996, + 0.14381945929999995, + 0.041762779649999984 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.1049999979, + 0.1049999979, + 0.006800600099999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "waffle", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "waffle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000065/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..344b459f1fedfea64739857e6c9a668428a1e024 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 50, + "style_id": 31, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.012919658098905995, + 0.11229077411789155, + -0.011415680051977404 + ], + "size": [ + 0.7172912599082715, + 0.537243236690721 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.081484883, + 0.081485412, + 0.11688754099999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + 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b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c469ca6161f628d6e192003db3bf93f8b78227a4 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 48, + "style_id": 11, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0028760255035781973, + 0.09392045177513544, + -0.01868097510957188 + ], + "size": [ + 0.44199890280699206, + 0.4967394550298487 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.05912102061811603, + 0.13499999999999998, + 0.035669142533730755 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bar", + "split": "train", + "mjcf_path": 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3937134202172445, + -4.526940970480475, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000068/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50d6d0824dc8d77c27b2c6ae147184a4fd8297d2 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 42, + "style_id": 31, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", 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b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85002bb77bca790b4c79c1e7d4636ed372efdd44 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,372 @@ +{ + "layout_id": 40, + "style_id": 16, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05050669909999998, + 0.12999999999999995, + 0.07200311039999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.0763607475, + 0.07636112699999999, + 0.13002319749999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mayonnaise", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mayonnaise", + "split": "train", + "mjcf_path": 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/dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 51, + "style_id": 17, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + 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"gen_textures": {}, + "lang": "Pick the squash from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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 + ], + "quat": [ + 0.6088936924934387, + 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+ { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.002089651054327485, + 0.013068878439847637, + -0.10183124730909257 + ], + "size": [ + 0.5656818039855027, + 0.4235063266153047 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.120814265, + 0.10930387600000001, + 0.114549622 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + 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b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0845dcabe2271c60534c3851d0d230ad616d96bc --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,429 @@ +{ + "layout_id": 59, + "style_id": 56, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.002089651054327485, + 0.013068878439847637, + -0.10183124730909257 + ], + "size": [ + 0.5656818039855027, + 0.4235063266153047 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.0250071, + 0.038602, + 0.00466708 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pickle_slice" + ], + "groups": [ + "all" + ], + "cat": "pickle_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pickle_slice/PickleSlice002/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + 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0000000000000000000000000000000000000000..2a796804327e3029e5222d293242276359848424 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 30, + "style_id": 52, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.002089651054327485, + 0.013068878439847637, + -0.10183124730909257 + ], + "size": [ + 0.5656818039855027, + 0.4235063266153047 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.10850860979999996, + 0.12981048479999996, + 0.1812851531999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_0/model.xml" + }, + "reset_region": { + "offset": [ + 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b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73133bcc39570384cda757eb2f11ad7f8d8c35fd --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,639 @@ +{ + "layout_id": 25, + "style_id": 14, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0028760255035781973, + 0.09392045177513544, + -0.01868097510957188 + ], + "size": [ + 0.44199890280699206, + 0.4967394550298487 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.029171615999999997, + 0.17652159599999998, + 0.033785796 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebab_skewer", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kebab_skewer", + "split": "train", + "mjcf_path": 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+ "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + 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it on a fridge shelf.", + "fixture_refs": { + "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": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + 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true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.0770555522, + 0.1110600634, + 0.0960879095 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + 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file mode 100644 index 0000000000000000000000000000000000000000..cc605f784f51308bb994ab625b7b8eeeb168f8c5 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 19, + "style_id": 51, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": 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"cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": 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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/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000090/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..159365e79c0f7b29598cd8e3755156ccf8cbc199 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 59, + "style_id": 49, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.12097239, + 0.12117099, + 0.0202998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + 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"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": [ + 1.2643976823694365, + -3.932226488311496, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415884046807676 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000091/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8402563fcc184445af724d9b0b8d619999be474 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 48, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.131274737, + 0.13076197200000003, + 0.12267713700000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes001/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + 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"fixture_refs": { + "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": [ + 3.4127756149323667, + -4.642918042810175, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000093/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e054640b2e99b13801f5947156593a3486072e85 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 35, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + 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"counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Pick the lemon from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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": [ + 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0000000000000000000000000000000000000000..14de0f27e6a3b297d93ea34a5460c527c8a62a54 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 49, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.002089651054327485, + 0.013068878439847637, + -0.10183124730909257 + ], + "size": [ + 0.5656818039855027, + 0.4235063266153047 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.13911105, + 0.016237249999999998, + 0.016010975 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cream_cheese_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cream_cheese_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + 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{ + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the lime from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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": [ + 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": [ + 0.7826708643939685, + -1.4656514681959554, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000095/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f35aea35959cbc1d3d0da9065ac47e1d5b7202e --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 58, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0013911834338693752, + 0.07982894673461718, + -0.14093114619312602 + ], + "size": [ + 0.5953528441889928, + 0.4336801283224632 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "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": "Pick the peach from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1600006042819624, + -2.0928600725846236, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000096/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44df04d18c338c4d4dbf110895162124d745e663 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 51, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0022655663683286698, + 0.010857582591533216, + -0.11495800748760356 + ], + "size": [ + 0.530276883110897, + 0.38660649279685244 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.019866, + 0.053182, + 0.00405 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pickle_slice" + ], + "groups": [ + "all" + ], + "cat": "pickle_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pickle_slice/PickleSlice005/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018172549023715012, + 0.05517546230841013, + 0.19574322789987725 + ], + "size": [ + 0.7151509556845621, + 0.356599373595367 + ], + "name": "fridge_shelf0" + } + } + ], + "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_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the tangerine from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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" + }, + 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+ 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000097/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..954110eb446235dc9dbbce594c0558a2cf9c02e0 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 35, + "style_id": 33, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004911567610903222, + -0.011301956603343988, + -0.13956742117712398 + ], + "size": [ + 0.6864899363245445, + 0.39517887105372673 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Pick the garlic from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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 + ], + "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": [ + 3.133775392687923, + -1.1457916403790311, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961519493434 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000098/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e634aab5ba297e1a3a68765ad42b7ac55946131 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 30, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.07784435099999999, + 0.0781034, + 0.009388 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato_slice" + ], + "groups": [ + "all" + ], + "cat": "tomato_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tomato_slice/TomatoSlice002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "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" + }, + "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" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "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": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": 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"fixture_refs": { + "fridge": "fridge_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1377959680848249, + -0.8837582269172579, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000102/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d42ecf853977549472bcd0b6b63446ac4433f8d --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,400 @@ +{ + "layout_id": 52, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.005002112178883383, + 0.052224557608414796, + -0.025351272037670364 + ], + "size": [ + 0.556273390420648, + 0.560195931203616 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.0759303125, + 0.0524059, + 0.1413036 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard004/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.23001125112024576 + ], + "size": [ + 0.6367794677104182, + 0.548573995662641 + ], + "name": "fridge_shelf0" + } + } + ], + "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" + }, + 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"cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" 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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": [ + 1.1123116679665923, + -2.0255689321302994, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000103/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43f5910553d986c9b19e1fa64407c9f35f6e6d18 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 36, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, 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0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + } + ], + "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" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "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_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick the onion from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_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": [ + 1.5907339733364094, + -4.238197878786248, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000104/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4984f4b3bbf5784776363356a876dd9500e4e02 --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 46, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.046066760999999984, + 0.040821181999999984, + 0.10107485099999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the squash from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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 + ], + "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": [ + 2.3460021767680046, + -1.211282008067562, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000105/ep_meta.json b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..853b0113f5b2029a541931ba1924cf0e12ecce3f --- /dev/null +++ b/pretrain/atomic/PickPlaceFridgeDrawerToShelf/20250821/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 56, + "style_id": 17, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "vegetable", + "fruit" + ], + "graspable": true, + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.25 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr", + "exclude_obj_groups": [ + "vegetable", + "fruit" + ], + "fridgable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.11039977, + 0.11049202999999999, + 0.017775 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "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": "Pick the squash from the fridge drawer and place it on a fridge shelf.", + "fixture_refs": { + "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": [ + 5.631094036616184, + -2.6512734688836797, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file