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b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afcd0f3151e259dc30d934141fb4ac986a6df447 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 36, + "style_id": 17, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml", + "placement": { + "fixture": "stack_3_left_group_1_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": 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b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 24, + "style_id": 46, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "placement": { + "fixture": "stack_4_main_group_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.42100000000000004, + 0.51 + ], + "height": 0.1852, + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "use_tablespoon": true + } +} \ No newline at end of file diff --git a/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78a686f638d47bdd659c32a62dfe6b3a65698bb1 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 21, + "style_id": 17, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "placement": { + "fixture": "stack_1_right_group_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.558, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "measuring_cup_large", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "placement": { + "fixture": "stack_1_right_group_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 1.4, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "cat": 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+ "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.433828136375278, + -0.9277218574373352, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "use_tablespoon": true + } +} \ No newline at end of file diff --git a/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dfe4aa950a76ec4efd854f7e2348d1919cad5055 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,418 @@ +{ + "layout_id": 60, + "style_id": 52, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "placement": { + "fixture": "stack_6_main_group_1_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "measuring_cup_large", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "placement": { + "fixture": "stack_6_main_group_1_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 1.4, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", 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b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07e8c06657425573d63a49511971a93e2821eba0 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 30, + "style_id": 18, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "placement": { + "fixture": "stack_2_front_group_4", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.5779999999999998, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "measuring_cup_large", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "placement": { + "fixture": "stack_2_front_group_4", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 1.4, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 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b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc72a771f225302dd0176ed3ef9200a5f45590e --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 51, + "style_id": 56, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "placement": { + "fixture": "stack_06_main_group_1_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": 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b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d6e325efab43143d61e542b0a3371f834f9a19a --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,373 @@ +{ + "layout_id": 52, + "style_id": 17, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "placement": { + "fixture": "stack_05_left_group_1_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": 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/dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,610 @@ +{ + "layout_id": 25, + "style_id": 58, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "placement": { + "fixture": "stack_4_island_group_1_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.641, + 0.56 + ], + "height": 0.118, + 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"Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + 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+ } +} \ No newline at end of file diff --git a/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f79bf2a9d4257b13932d4deac54b8e20e3b03c3f --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 51, + "style_id": 53, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml", + "placement": { + "fixture": "stack_06_main_group_1_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": 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b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8789826b0cd93a7c9175c4ee9d7277c734e6e94 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 36, + "style_id": 47, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "placement": { + "fixture": "stack_2_right_group_1_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": 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], + "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": [ + 2.0486520217525466, + -3.042365578933562, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "use_tablespoon": true + } +} \ No newline at end of file diff --git a/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc6abd89ca16a9480e03bc459fff3aa5906164c5 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 41, + "style_id": 30, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml", + "placement": { + "fixture": "stack_2_right_group_1_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.6099999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "measuring_cup_large", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml", + "placement": { + "fixture": 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{ + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.246744627887551, + -2.255654568986455, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "use_tablespoon": true + } +} \ No newline at end of file diff --git a/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6079aafd33f40ed35d193380070116679d9ac06 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 20, + "style_id": 34, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "placement": { + "fixture": "stack_1_main_group_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..8612a23cde520c9cf5e753bec20fb8197bf6b92c --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 50, + "style_id": 30, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml", + "placement": { + "fixture": "stack_12_left_group_1_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 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+ }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0884345567066196, + -1.7174900328246072, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ], + "refs": { + "use_tablespoon": true + } +} \ No newline at end of file diff --git a/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1812aa837d98a750b304dcd77fe2a9a7deb30a7 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 24, + "style_id": 58, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "placement": { + "fixture": "stack_3_main_group_5", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.56, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "measuring_cup_large", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "placement": { + "fixture": "stack_3_main_group_5", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 1.4, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.56, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_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": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" 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measuring cup on the counter.", + "fixture_refs": { + "drawer": "stack_3_main_group_5", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "placement": { + "fixture": "stack_2_main_group_1_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "measuring_cup_large", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml", + 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index 0000000000000000000000000000000000000000..ccb063a8d5e4277fd53041051abbc75a270839a3 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 12, + "style_id": 21, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml", + "placement": { + "fixture": "stack_4_main_group_2", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml", + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 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+ 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "use_tablespoon": false + } +} \ No newline at end of file diff --git a/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ffdf7e1186031c7ef8fd15f16c3d3f91a33bf99 --- /dev/null +++ b/pretrain/composite/ChooseMeasuringCup/20250718/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 29, + "style_id": 54, + "object_cfgs": [ + { + "name": "measuring_cup_small", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml", + "placement": { + "fixture": "stack_4_left_group_3", + "size": [ + 0.5, + 0.4 + ], + "pos": [ + -1, + 0 + ] + }, + "object_scale": 0.75, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" 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"null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "8:33:38", + "total": 82690 +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveCorrectMeal/20250901/lerobot/meta/embodiment.json b/pretrain/composite/MicrowaveCorrectMeal/20250901/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/MicrowaveCorrectMeal/20250901/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveCorrectMeal/20250901/lerobot/meta/episodes.jsonl b/pretrain/composite/MicrowaveCorrectMeal/20250901/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..695a85afc6f70936510462a053508fa2eb72d30f --- /dev/null +++ b/pretrain/composite/MicrowaveCorrectMeal/20250901/lerobot/meta/episodes.jsonl @@ -0,0 +1,108 @@ +{"episode_index": 0, "tasks": ["Place the bowl containing the bell pepper and broccoli in the microwave. 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Close the microwave door and press the start button to microwave the meal."} +{"task_index": 1, "task": "Place the bowl containing the corn and garlic in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 2, "task": "Place the bowl containing the shrimp and steak in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 3, "task": "Place the bowl containing the mushroom and corn in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 4, "task": "Place the bowl containing the steak and kebab skewer in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 5, "task": "Place the bowl containing the carrot and potato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 6, "task": "Place the bowl containing the steak and bell pepper in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 7, "task": "Place the bowl containing the steak and potato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 8, "task": "Place the bowl containing the bell pepper and potato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 9, "task": "Place the bowl containing the steak and broccoli in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 10, "task": "Place the bowl containing the mushroom and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 11, "task": "Place the bowl containing the eggplant and sweet potato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 12, "task": "Place the bowl containing the onion and bell pepper in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 13, "task": "Place the bowl containing the tomato and eggplant in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 14, "task": "Place the bowl containing the mushroom and eggplant in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 15, "task": "Place the bowl containing the tomato and broccoli in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 16, "task": "Place the bowl containing the potato and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 17, "task": "Place the bowl containing the potato and mushroom in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 18, "task": "Place the bowl containing the broccoli and tomato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 19, "task": "Place the bowl containing the onion and eggplant in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 20, "task": "Place the bowl containing the garlic and chicken drumstick in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 21, "task": "Place the bowl containing the shrimp and mushroom in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 22, "task": "Place the bowl containing the tomato and onion in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 23, "task": "Place the bowl containing the carrot and kebab skewer in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 24, "task": "Place the bowl containing the hot dog and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 25, "task": "Place the bowl containing the shrimp and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 26, "task": "Place the bowl containing the potato and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 27, "task": "Place the bowl containing the eggplant and broccoli in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 28, "task": "Place the bowl containing the hot dog and steak in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 29, "task": "Place the bowl containing the garlic and potato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 30, "task": "Place the bowl containing the chicken drumstick and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 31, "task": "Place the bowl containing the garlic and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 32, "task": "Place the bowl containing the broccoli and hot dog in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 33, "task": "Place the bowl containing the shrimp and broccoli in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 34, "task": "Place the bowl containing the hot dog and eggplant in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 35, "task": "Place the bowl containing the bell pepper and onion in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 36, "task": "Place the bowl containing the garlic and corn in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 37, "task": "Place the bowl containing the hot dog and corn in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 38, "task": "Place the bowl containing the squash and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 39, "task": "Place the bowl containing the onion and broccoli in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 40, "task": "Place the bowl containing the fish and onion in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 41, "task": "Place the bowl containing the squash and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 42, "task": "Place the bowl containing the broccoli and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 43, "task": "Place the bowl containing the garlic and broccoli in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 44, "task": "Place the bowl containing the corn and tomato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 45, "task": "Place the bowl containing the eggplant and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 46, "task": "Place the bowl containing the chicken drumstick and tomato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 47, "task": "Place the bowl containing the onion and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 48, "task": "Place the bowl containing the hot dog and garlic in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 49, "task": "Place the bowl containing the kebab skewer and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 50, "task": "Place the bowl containing the garlic and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 51, "task": "Place the bowl containing the garlic and kebab skewer in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 52, "task": "Place the bowl containing the garlic and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 53, "task": "Place the bowl containing the mushroom and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 54, "task": "Place the bowl containing the hot dog and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 55, "task": "Place the bowl containing the onion and squash in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 56, "task": "Place the bowl containing the eggplant and corn in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 57, "task": "Place the bowl containing the steak and hot dog in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 58, "task": "Place the bowl containing the mushroom and bell pepper in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 59, "task": "Place the bowl containing the chicken drumstick and squash in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 60, "task": "Place the bowl containing the carrot and mushroom in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 61, "task": "Place the bowl containing the corn and chicken drumstick in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 62, "task": "Place the bowl containing the sweet potato and garlic in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 63, "task": "Place the bowl containing the squash and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 64, "task": "Place the bowl containing the bell pepper and mushroom in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 65, "task": "Place the bowl containing the eggplant and squash in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 66, "task": "Place the bowl containing the garlic and mushroom in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 67, "task": "Place the bowl containing the steak and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 68, "task": "Place the bowl containing the squash and tomato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 69, "task": "Place the bowl containing the fish and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 70, "task": "Place the bowl containing the kebab skewer and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 71, "task": "Place the bowl containing the garlic and eggplant in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 72, "task": "Place the bowl containing the carrot and sweet potato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 73, "task": "Place the bowl containing the chicken drumstick and mushroom in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 74, "task": "Place the bowl containing the potato and tomato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 75, "task": "Place the bowl containing the garlic and hot dog in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 76, "task": "Place the bowl containing the shrimp and garlic in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 77, "task": "Place the bowl containing the onion and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 78, "task": "Place the bowl containing the corn and kebab skewer in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 79, "task": "Place the bowl containing the carrot and onion in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 80, "task": "Place the bowl containing the potato and corn in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 81, "task": "Place the bowl containing the fish and corn in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 82, "task": "Place the bowl containing the kebab skewer and squash in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 83, "task": "Place the bowl containing the bell pepper and carrot in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 84, "task": "Place the bowl containing the carrot and eggplant in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 85, "task": "Place the bowl containing the tomato and squash in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 86, "task": "Place the bowl containing the mushroom and onion in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 87, "task": "Place the bowl containing the shrimp and onion in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 88, "task": "Place the bowl containing the mushroom and potato in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 89, "task": "Place the bowl containing the sweet potato and steak in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 90, "task": "Place the bowl containing the eggplant and bell pepper in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 91, "task": "Place the bowl containing the broccoli and steak in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 92, "task": "Place the bowl containing the tomato and shrimp in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 93, "task": "Place the bowl containing the mushroom and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 94, "task": "Place the bowl containing the squash and corn in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 95, "task": "Place the bowl containing the fish and kebab skewer in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 96, "task": "Place the bowl containing the corn and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 97, "task": "Place the bowl containing the potato and bell pepper in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 98, "task": "Place the bowl containing the kebab skewer and fish in the microwave. Close the microwave door and press the start button to microwave the meal."} +{"task_index": 99, "task": "MicrowaveCorrectMeal"}