diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000001/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..413d7dab557bbf19f147a356b957b3ebe526b37f --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { 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file mode 100644 index 0000000000000000000000000000000000000000..5afd912fb90ae83edf375611953f3e1e9ad50566 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + 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100644 index 0000000000000000000000000000000000000000..fd7cbe0328c7e8dcacc6df147b7cd17048719f3b --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 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2.6747023782281083, + -1.7889407874007768, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000015/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec6dc145fd93b855d269e2814fdd684ef184031e --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,361 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + 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"placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + -0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": 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+ "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7838055546200398, + -1.7989244586692532, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000027/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e390827e889cca44ced14d1a3f7126a3281a759 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], 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"init_robot_base_pos": [ + 2.698365837965264, + -1.7797361625552897, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000028/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3b90f056641877ff3b12f9d08db8319bf675342 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 2.4729331449141125, + 0.65 + ], + "offset": [ + -0.6635334275429436, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000030/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8dc7f6149093bbd9be2424f38f94d7a70b156f77 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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[ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.5470704714618846, + 0.65 + ], + "offset": [ + -1.2264647642690578, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da7ce426dd9a8276bb63591d27a2007d40ea62d8 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000041/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d11c0cad1caf76dfe001621c9ecd17e1ae05d216 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3e0404ff9c934dfae81c4fc9bd2c3432abce483 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000050/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89bc449e5494d9b29308a96fd08347d82beb0723 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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--git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000066/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a32913f07eddfab8fa8d731239dff02771515348 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + 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2.7591859511886323, + -1.7722067460839273, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000071/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..335ad85320ec92e2327c4406a002a2f2d7a4d2db --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000072/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c1a2a6097d61aa27b180e1c7050df7a91a98ac --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000073/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..896412bf01c581747aea429e0286e5d26543bdd9 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", 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"object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + 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{ + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": 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+ 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000090/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5021cd89cd320cfb2c63c93622f2feed4ad53bf0 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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"sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000099/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0bb4bc8b7bf71e2cd8bf5ca1ae46aa13f895726 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000101/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b06d764ce99af3752ba85dbdcfac7886980b4b5 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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mode 100644 index 0000000000000000000000000000000000000000..dcd85804c206b62b0901ac1a4d65ee3b265ecefa --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000110/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + 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mode 100644 index 0000000000000000000000000000000000000000..92e46e799f11d19a9035812e03e52937db559c65 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000111/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + 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100644 index 0000000000000000000000000000000000000000..72c3c2e75bd9c8bed531a365325e81d7bf42cca2 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000121/ep_meta.json @@ -0,0 +1,361 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000136/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000136/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0b22c0e4659358a7a3327be9c3f60f836c8688c --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000136/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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"counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.104600295773473, + -2.100999393685524, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000138/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000138/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..011176f8e059e5785996e8d821079ba054d95f4c --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000138/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + 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end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000141/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000141/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..873c2d93bd1c9cf1b9047c1d3680b441d61ac866 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000141/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + 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[ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000143/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000143/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91d975a9397b0d0f075deb9c522d15b2780afa10 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000143/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000164/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11a18513ae37e997e70275b0c9630ac2feb702b8 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000164/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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0000000000000000000000000000000000000000..4ccb67cd5ac02fa3c56a59ded46615f0fb4e1b78 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000165/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + 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0000000000000000000000000000000000000000..6e19d79fd86e2de86d422ef41a295aeb731ccc97 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000166/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.5670704714618844, + 0.65 + ], + "offset": [ + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000169/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000169/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3143b05d28b0f4846d22bc26fe7c3f0cadd5e547 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000169/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000182/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a1565075eeb6233764eeaa1323c929c9d5de653 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000182/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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@@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + 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--git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000203/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000203/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ce22621c06409b428c23fb9a1383998d22a3b1a --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000203/ep_meta.json @@ -0,0 +1,361 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000219/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000219/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4ced5fe5e251c438794c2882e0407bc5f995e3 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000219/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000220/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000220/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..147ae31458eb18a9c888c6159b1017575d7c1c6b --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000220/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000221/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d851dfbf1268c15a3de8ed7ba369aa8ad88f5de1 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000221/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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0000000000000000000000000000000000000000..79ce333baf793e15600937931c4e93ed028cf0d9 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000237/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 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0000000000000000000000000000000000000000..e41440d071c2995dc1eb7270f1b4473cc7215a20 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000238/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.5470704714618846, + 0.65 + ], + "offset": [ + 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000240/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000240/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eca07e8f304f1250942a1fb3beedd438912dbbb2 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000240/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + 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/dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000241/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": 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@@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.1100000000000003, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": 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+ "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8254193306564263, + -1.8559161341914214, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000256/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000256/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ef6a5fb4ab2f243bdf6548a7496961d1bbfbf6f --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000256/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + -0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + 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{ + "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": [ + 2.8979635036003395, + -1.7630695792072917, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000257/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000257/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ffd18aa3a5539650fc047dffd1df42ccaaceeaa --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000257/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + -0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": 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"cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000278/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000278/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10f633d2db3ea0fed01def6dcf82a8f0f156ae76 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000278/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + 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0000000000000000000000000000000000000000..50ebcf6cc83f197a724a68c432d41b36b900d652 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000286/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.5670704714618844, + 0.65 + ], + "offset": [ + 0.716464764269058, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + 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0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000287/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000287/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17a55eb419e6a03602afbdc1f02b46a95729d0f3 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000287/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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"robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.193427444274117, + -1.810371496642329, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000292/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000292/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..836f26035af26ebef858cc4a8ff2f620e5e2c92d --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000292/ep_meta.json @@ -0,0 +1,361 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000294/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6fc6ad0630268d7eb40693a0d69bfe74a4ca3d1d --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000294/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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@@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { 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}, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + 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"name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": 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"placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.5670704714618844, + 0.65 + ], + "offset": [ + 0.716464764269058, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + 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0000000000000000000000000000000000000000..0cde9c491dbfd462c6b1c8b5ed0bfb539287232c --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000302/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + 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0000000000000000000000000000000000000000..15fa4f75fd7fec0ab107b7911a40ea31a41ac19b --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000304/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000334/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + 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0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7996060421194268, + -2.280217105456319, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000336/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000336/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c186ae52ff806be4e8a9f5df067029b7e9f3b2 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000336/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + 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"cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.132470906470766, + -2.0816078045031574, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000340/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000340/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d44868e59c33465874c970c9ee5c50d7bbc4ff4b --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000340/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + 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+ "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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@@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000385/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + 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{ + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "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_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + 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"Toaster" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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"placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" 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end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000405/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000405/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a01e0c8583e6e9421c885368714f210585afd5e9 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000405/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000406/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000406/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe7bbd25c630e8e9d0a9fd061aa059fe850bc1d8 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000406/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + 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file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000410/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000410/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc86131431f18a07d78e2639d23e52034660dcaa --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000410/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000413/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000413/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35da3065a6f9cfc59569169fac19102796725a66 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000413/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", 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0000000000000000000000000000000000000000..14f246bc8908170c18be7cbe1938b9cfad1bf603 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000418/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 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[ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.083027056542865, + -2.1388735297397794, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000421/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000421/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..571dc05798d1f2975096085ee536cad78718de46 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000421/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 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mode 100644 index 0000000000000000000000000000000000000000..468d8844b2dcbf60cb7de05a2b8791472372c51b --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000426/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000428/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000428/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e00d3273e557e86835780992addb5ce300ff3c0 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000428/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000429/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000429/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15a50fdf7ccf6d5b41288208a647a19dbdcea2c9 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000429/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + 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at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000437/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000437/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7edcbe7fda3d3962ed8a281693c0c74180ba589 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000437/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000444/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000444/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..acfd3233c8b1c1e253860b93d4b3c48045e47703 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000444/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000447/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f8a65eb86fb85bcf2b69fb1da2f65064932c83e --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000447/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000481/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000481/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92435c3c152abb406708465d258b5c9dbad2686e --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000481/ep_meta.json @@ -0,0 +1,361 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + 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[ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000485/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2fdc5dd7dd800511f6e9852b41bfc3d267b1eb18 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000485/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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"robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.076815241802926, + -1.8059932156770255, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000492/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000492/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf1d295dd580e30eead3b9d241e1a06a209b2089 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000492/ep_meta.json @@ -0,0 +1,361 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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}, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.117873509421109, + -0.8035175311306251, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000495/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000495/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d7b5f352ed9f44f856888da31dde4a2b9a531f4 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000495/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 2.4729331449141125, + 0.65 + ], + "offset": [ + -0.6635334275429436, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" 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"coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 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0000000000000000000000000000000000000000..ef3bcf02d8d845599747a1a57c0d449b908d491e --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000496/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 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0000000000000000000000000000000000000000..9935842a94e12e0262b9f7b2e0dc701fc6b36d24 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000501/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + 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2.653784902559695, + -1.8266027242588496, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000504/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000504/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f55945ee8e2690ef54eba99112e3557240d47b6c --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000504/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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-1.7746809756071151, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000507/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000507/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7d32c09e2e0fd40d610ca40dda2e2a7222b60b5 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000507/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + 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+ }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": 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"cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": 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