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Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_3_right_group_1", + "distractor_counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005147692477039112, + 0.0121457666891846, + 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[ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + 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"cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + 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"stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick the cheese from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_front_group_1", + "counter": "counter_1_front_group_1", + "distractor_counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6260107155330057, + -5.398977232783608, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d539a44537ab05777a238850810d4335bf6d72e --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 19, + "style_id": 34, + "object_cfgs": [ + { 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"sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_main_group_3", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.08076062415962576, + 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false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "offset": [ + 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Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_1_main_group", + "distractor_counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.9954382524900397, + 0.65 + ], + "offset": [ + -0.8822808737549801, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + 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Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_2_main_group_1", + "distractor_counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.612332941656218, + -1.1818739406374956, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/meta/embodiment.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/meta/episodes.jsonl b/pretrain/composite/MicrowaveThawing/20250715/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c677fcaf2b24c5f9850ba7be50e36f11bc8071ba --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/meta/episodes.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "tasks": ["Pick the broccoli from the counter and place it in the microwave. 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Then turn on the microwave."} +{"task_index": 1, "task": "Pick the potato from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 2, "task": "Pick the marshmallow from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 3, "task": "Pick the bell pepper from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 4, "task": "Pick the chicken drumstick from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 5, "task": "Pick the steak from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 6, "task": "Pick the kebab skewer from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 7, "task": "Pick the corn from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 8, "task": "Pick the cheese from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 9, "task": "Pick the eggplant from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 10, "task": "Pick the mushroom from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 11, "task": "Pick the fish from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 12, "task": "Pick the carrot from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 13, "task": "Pick the sweet potato from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 14, "task": "Pick the squash from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 15, "task": "Pick the garlic from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 16, "task": "Pick the shrimp from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 17, "task": "Pick the hotdog bun from the counter and place it in the microwave. Then turn on the microwave."} +{"task_index": 18, "task": "MicrowaveThawing"} diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/dataset_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78e3f0d485ce4a6311babed1c611be8b8c804f30 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-30-2025", + "env": "MicrowaveThawingFridge", + "env_args": { + "type": 1, + "env_name": "MicrowaveThawingFridge", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "MicrowaveThawingFridge", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + 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{ + "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": [ + 5.587546453553582, + -2.7072546287054005, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf30a50a90a236bb24088394031850a6984b2fb --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 16, + "style_id": 57, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": 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"in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.25 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "container", + "obj_groups": "plate", + 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of file diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b19e0102dbf76f81e219ac733efbc50bfc44571 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 58, + "style_id": 42, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d57d10a2ebff8f1faae7abe01d8d2e79cc40fc2a --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 60, + "style_id": 35, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.029114420068277302, + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9ee91fac42da2a8a28ef8a1a3565d3708a0766d --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 59, + "style_id": 50, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + 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b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cfb937fd7c387b756a2e64eab1454156e70f3db7 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 58, + "style_id": 34, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 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at end of file diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0393f4da2aa901bfdcc5be4bcedf8aebdbd280c9 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 60, + "style_id": 60, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..40bfc231a2b1db2b8ceff2231cfe579f1f1e1ae9 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 51, + "style_id": 47, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } 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"init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..279569f8c98e9020c07f26532fa45ab00c4998fe --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 37, + "style_id": 60, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60578d81df1e8772b459757ce1735d0f30085ec0 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 53, + "style_id": 57, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": 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"plate", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.25 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": 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b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73f0fc0dc1707447040829c9650de496e486cba1 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 55, + "style_id": 55, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.012142208719510522, + 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microwave.", + "fixture_refs": { + "microwave": "microwave_left_group", + "fridge": "fridge_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.121576358587109, + -0.8679582810852449, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa8728a46efb8ac8d960d47c717f794060df549b --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 53, + "style_id": 19, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "meat_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.25 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.09671677564936831, + -0.01736108176103536, + -0.17825799260462283 + ], + "size": [ + 0.3477802233616639, + 0.23176943873190756 + ], + "height": 0.3718607129991316, + "name": "tray" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + 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+ }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Transport the fish from the fridge to the microwave and turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "fridge": "fridgefrenchdoor_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 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0000000000000000000000000000000000000000..f8c7721c3dc2b764f3290ee8ed25861a92a4e893 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 16, + "style_id": 11, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridge_1_main_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004448710707134762, + 0.07787020008084633, + 0.2687400063981569 + ], + "size": [ + 0.6491596245173747, + 0.5040113829419179 + ], + "name": "fridge_shelf0" + } + }, + { 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+ ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..065e0ac6ea49f654e30caeb9bd55db8b2d909e03 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 30, + "style_id": 20, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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--git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f24b26ce020b9efc4fb17ec6e5b2ae9a7d8c6fd --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 30, + "style_id": 37, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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--git a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9f9510bad60ad2b8467f98c9731b7b46fa9c9f7 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 32, + "style_id": 45, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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a/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7304ca389db7040f88fd8d22ad45b425e414235 --- /dev/null +++ b/pretrain/composite/MicrowaveThawingFridge/20250730/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 33, + "style_id": 33, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.275 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc3dea4eaced4744dbc5f41c29aa8e9dff996832 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 23, + "style_id": 42, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..148f9ce0c1eb1b010b5e14bd2b338c8b1a7aaf5b --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,631 @@ +{ + "layout_id": 22, + "style_id": 57, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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"plate", + "placement": { + "fixture": "dining_dining_area_group_2", + "sample_region_kwargs": { + "ref": "stool_6_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.0260002993355832, + 0.85 + ], + "offset": [ + -0.5459998503322083, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "food1", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.11658468779999999, + 0.11658468779999999 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.11658468779999999, + 0.11658468779999999 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": 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"cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "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": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": 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-0.8052219398701409, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "aluminum_foil_x_pos": -1.0, + "tupperware_x_pos": 1.0 + } +} \ No newline at end of file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18962bb20f480635fc77b720fda21341854e3284 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 44, + "style_id": 56, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil003/model.xml" + }, + 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file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc39c4d7253b7a1cf32bc03be7f273071c06549f --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 38, + "style_id": 40, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f44975e20b4820f61ffac7506b82bb7249cb5fc --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,639 @@ +{ + "layout_id": 15, + "style_id": 55, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0a6594990f417ffbd8b76e402b8380484ecf761 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 38, + "style_id": 31, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_4_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..72e44ab4bc19eb8c0651f44b9ba7bd1a73ce556e --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 33, + "style_id": 14, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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place them on the dining counter near the plate with cucumber and sweet potato to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_4_room", + "dining_counter": "island_island_group_1", + "cabinet": "hingecabinet_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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{ + "aluminum_foil_x_pos": 1.0, + "tupperware_x_pos": -1.0 + } +} \ No newline at end of file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..baaefb4f61e683eef3bd78fd66bf055e9e4f25ed --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 11, + "style_id": 17, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], 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0000000000000000000000000000000000000000..eba78b3090ed6d4098e4667f8173cd38904b204b --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,666 @@ +{ + "layout_id": 12, + "style_id": 35, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware034/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + 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0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "food1", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.11593649339999999, + 0.11593649339999999 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.11593649339999999, + 0.11593649339999999 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" 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"Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Retrieve the tupperware and aluminum foil from the cabinet and place them on the dining counter near the plate with tomato and avocado to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group_1", + "cabinet": "hingecabinet_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 7.261628334610195, + -3.708756714275129, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "refs": { + "aluminum_foil_x_pos": -1.0, + "tupperware_x_pos": 1.0 + } +} \ No newline at end of file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3257ab622dfbcbeac989e10c98f7c7abd8b53c9 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 56, + "style_id": 47, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_4_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.224457, + 0.309141 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "hingecabinet_4_main_group_1", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.224457, + 0.309141 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.5724488394683735, + 0.9896050000000002 + ], + "offset": [ + 1.7993762351231624e-05, + 0.3075, + 0.4600015 + ], + "name": "geom_0" + } + }, + { + "name": "food1", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12249540697499998, + 0.12249540697499998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12249540697499998, + 0.12249540697499998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Retrieve the tupperware and aluminum foil from the cabinet and place them on the dining counter near the plate with fish and lime to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group_1", + "cabinet": "hingecabinet_4_main_group_1" + }, + "cam_configs": { + 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-0,0 +1,621 @@ +{ + "layout_id": 56, + "style_id": 25, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1569479999999999, + 0.309158 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], 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0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.998595783642105, + -4.397682763589993, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "refs": { + "aluminum_foil_x_pos": -1.0, + "tupperware_x_pos": 1.0 + } +} \ No newline at end of file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e62a4428c37f2bdffff604968a09ea55fd2a46a --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,631 @@ +{ + "layout_id": 22, + "style_id": 12, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware034/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6499999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6499999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_2", + "sample_region_kwargs": { + "ref": "stool_4_room", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.0179997006644252, + 0.85 + ], + "offset": [ + 0.5500001496677873, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "food1", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12249540697499998, + 0.12249540697499998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12249540697499998, + 0.12249540697499998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "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": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": 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"fixture_refs": { + "stool": "stool_4_room", + "dining_counter": "dining_dining_area_group_2", + "cabinet": "cab_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"style_id": 23, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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"obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.5706180912724867, + 1.259164 + ], + "offset": [ + 0.9531629543637566, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "food1", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12354878254500003, + 0.12354878254500003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12354878254500003, + 0.12354878254500003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + 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"HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Retrieve the tupperware and aluminum foil from the cabinet and place them on the dining counter near the plate with fishs to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "dining_dining_area_group_1", + "cabinet": "hingecabinet_4_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 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b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2bc683f9a8e03ef05b01d09d55adb5cabcc5448 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,591 @@ +{ + "layout_id": 13, + "style_id": 37, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8089999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8089999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 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a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ae89d5617fab0aea8040510a16e51f0912177e3 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,624 @@ +{ + "layout_id": 35, + "style_id": 59, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.116351400375, + 0.116351400375 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebab_skewer", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "kebab_skewer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer002/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + 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a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f6fa7695b2387a92a7f08e4a28d5a0452cd06a5 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,666 @@ +{ + "layout_id": 29, + "style_id": 58, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": 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}, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + 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"gen_textures": {}, + "lang": "Retrieve the tupperware and aluminum foil from the cabinet and place them on the dining counter near the plate with shrimp and steak to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group", + "cabinet": "cab_4_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": 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0000000000000000000000000000000000000000..6a9626baf29469a802c6f38d0173e573cafaa606 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,665 @@ +{ + "layout_id": 29, + "style_id": 53, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_6_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "cab_6_main_group", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + 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}, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Retrieve the tupperware and aluminum foil from the cabinet and place them on the dining counter near the plate with garlic and shrimp to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group", + "cabinet": "cab_6_main_group" + }, + 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.636110502852098, + -0.8121479672261904, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "aluminum_foil_x_pos": -1.0, + "tupperware_x_pos": 1.0 + } +} \ No newline at end of file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd416e40cbfd1e279cf85b92159a0011284ab82f --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,536 @@ +{ + "layout_id": 58, + "style_id": 55, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware034/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + 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0.11593649339999999 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + 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newline at end of file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc84497d1462e958d251576939b15601df3a6321 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 42, + "style_id": 15, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", 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-0,0 +1,624 @@ +{ + "layout_id": 35, + "style_id": 43, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware034/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.25138639677448, + 0.65 + ], + "offset": [ + -0.020856801612759934, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "food1", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12272844370500001, + 0.12272844370500001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12272844370500001, + 0.12272844370500001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + 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"cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": 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+ "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Retrieve the tupperware and aluminum foil from the cabinet and place them on the dining counter near the plate with tomato and eggplant to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_2_right_group_1", + "cabinet": "hingecabinet_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + 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file mode 100644 index 0000000000000000000000000000000000000000..81b0fa418ee8a44a036cdcbdb24e445abe34e641 --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 24, + "style_id": 24, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware034/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.4306243019160476, + 1.95 + ], + "offset": [ + 1.184687849041976, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "food1", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12354878254500003, + 0.12354878254500003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.12354878254500003, + 0.12354878254500003 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "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": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Retrieve the tupperware and aluminum foil from the cabinet and place them on the dining counter near the plate with carrot and squash to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group_1", + "cabinet": "cab_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.855498488460555, + -0.836985627073943, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "aluminum_foil_x_pos": -1.0, + "tupperware_x_pos": 1.0 + } +} \ No newline at end of file diff --git a/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cccb9488334ae51a5f5d69395dde06d6fe41d7d --- /dev/null +++ b/pretrain/composite/PrepareStoringLeftovers/20250903/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 23, + "style_id": 23, + "object_cfgs": [ + { + "name": "tupperware", + "obj_groups": "tupperware", + "object_scale": [ + 1.3, + 1.3, + 1.2 + ], + "placement": { + "fixture": "top_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 1.0, + -1.0 + ], + "rotation": 1.5707963267948966 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "tupperware" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.3999999999999999 + ], + "size": [ + 0.74, + 0.74 + ], + "height": 0.2466666666666666, + "name": "level0" + } + }, + { + "name": "aluminum_foil", + "obj_groups": "aluminum_foil", + "placement": { + "fixture": "top_right_group", + "size": [ + 0.5, + 0.15 + ], + "pos": [ + -1.0, + -1.0 + ], + "rotation": 0 + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "aluminum_foil" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.3999999999999999 + ], + "size": [ + 0.74, + 0.74 + ], + "height": 0.2466666666666666, + "name": "level0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_1_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.0719999956288702, + 1.0 + ], + "offset": [ + 0.36400000218556494, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "food1", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.1271526577341561, + 0.1271526577341561 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + } + }, + { + "name": "food2", + "obj_groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "graspable": true, + "placement": { + "size": [ + 0.1271526577341561, + 0.1271526577341561 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "meat", + "cooked_food", + "vegetable" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_16/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Retrieve the tupperware and aluminum foil from the cabinet and place them on the dining counter near the plate with lemon wedge and potato to prepare for storing leftovers.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_1_island_group", + "cabinet": "top_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + 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