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--git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b28c1f3e9f432d4e6b43b4f2bdf047f3ea8e21e3 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 30, + "style_id": 16, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + 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dining counter.", + "fixture_refs": { + "cab": "cab_1_right_group", + "dining_table": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0072533350138673, + -0.33846009145514583, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.3435886114798734e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c293816e164f144b2c6e0561841ce1915f18b6e3 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 42, + "style_id": 30, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": 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file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32e906b2a00fbd02d62655c37b53b3e349710621 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,396 @@ +{ + "layout_id": 58, + "style_id": 49, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 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[ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4df1572a12e0118e369c004e03779d3d99d604ad --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 21, + "style_id": 54, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": 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100644 index 0000000000000000000000000000000000000000..7efb834409303f7fceb0897e95d510663c9a8271 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 30, + "style_id": 19, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_4_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + 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b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef8d7f3653260294175b83665466fef627b9cd8a --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 41, + "style_id": 27, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554049, + 0.39917 + ], + "height": 0.2666666666666667, + "name": 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--git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9610a5dec75941f872b0f0c3691c1c8195c01749 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 54, + "style_id": 44, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 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b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 23, + "style_id": 33, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab15c79e36507acaad4a4d6f102402caa9deadd0 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 30, + "style_id": 12, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": 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"layout_id": 35, + "style_id": 55, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" 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"pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "wine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, 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+ }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.888493205388831, + -5.868214348410897, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fdde9fad3d97367516c2b1d30fe470bf133954b --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 15, + "style_id": 24, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, 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"init_robot_base_pos": [ + 2.148115825842178, + -0.34953494751040937, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93f7297c269a7fce8145c87faef4989663ed3311 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 23, + "style_id": 47, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.425, + 0.4 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "wine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.425, + 0.4 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + 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+ }, + "gen_textures": {}, + "lang": "Get the candle and the wine from the cabinet and move them to the dining counter.", + "fixture_refs": { + "cab": "cab_1_left_group", + "dining_table": "island_1_island_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": [ + 0.7593814416371848, + -3.5483740136030506, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10feda8b7525b2835c5f8dbb71257aaec2b0be03 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 33, + "style_id": 19, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + 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0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..439f7c75df92c47acd2289a85bbcff30da99bdcf --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 16, + "style_id": 55, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_10/model.xml" + }, + 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], + "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": [ + 2.2715298797251466, + -1.6144927733763357, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..482c6ae5b763c80d9f39817271d088bcaa0c88a6 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 28, + "style_id": 17, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + 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} + }, + "init_robot_base_pos": [ + 1.6391437436848466, + -0.803703867869846, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a5043d024a9814ffca6a96128c471807aba8722 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 24, + "style_id": 22, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { 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0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 7.163872029933662, + -0.816690670957817, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70e223c6267d5df06bffe20b5795df4c4649e11e --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 27, + "style_id": 53, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": 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{}, + "lang": "Get the candle and the beer from the cabinet and move them to the dining counter.", + "fixture_refs": { + "cab": "cab_2_main_group", + "dining_table": "counter_3_front_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": [ + 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"decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + 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}, + "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": [ + 3.4889397141333336, + -1.142599871938434, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..834118ad6287131ee8ea1b5d2598343ecf8421cb --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 35, + "style_id": 42, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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" + }, + 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"init_robot_base_pos": [ + 0.7866831625645436, + -4.042681343695873, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2ff6b8894176037f675df479e37faee59b62081 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 54, + "style_id": 43, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.980834, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.980834, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + 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b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e55bc89dd6dc857bd229b8e353195fe251176d31 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 14, + "style_id": 54, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.02, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + 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+ "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.8515069536889, + -4.879218009416501, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712234187123444 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdf2e767b0162eb7e5eeab2094cb2732114ef536 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 42, + "style_id": 54, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": 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b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 49, + "style_id": 49, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + 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0000000000000000000000000000000000000000..3f2b49b693d93c92d0fd71729c45be6b1cece01a --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 41, + "style_id": 46, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554, + 0.399 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + 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b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93919d0749bbc93919fbf6039d6a6555cfe0beb3 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,612 @@ +{ + "layout_id": 25, + "style_id": 51, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.49000000000000005, + 0.34 + ], + "height": 0.43999999999999995, 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0000000000000000000000000000000000000000..4f1893997fc18aab53021223d24e81f325a71293 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,411 @@ +{ + "layout_id": 32, + "style_id": 52, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "opencabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.2, + 0.4 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": 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0000000000000000000000000000000000000000..687ee839c4940d90dedaa7897c04432dc9dc54b2 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 22, + "style_id": 55, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6930000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + 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and the liquor from the cabinet and move them to the dining counter.", + "fixture_refs": { + "cab": "cab_2_left_group", + "dining_table": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"candle", + "graspable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": 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-0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.18301695165210533, + -3.0831138362292734, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb592c74284d606c27a6f377c6da7a5ac61066eb --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 45, + "style_id": 18, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5469999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5469999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_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_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + 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0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8745266751824303, + -2.6813010684861975, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb1d0f9b85b15ec51b39528b05ce96c1fd9d19d1 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 31, + "style_id": 45, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + 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+ "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.0041467185717545, + -4.3741468236099985, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43470ab34aaa185bb56b18d0fbb206689eecf5e3 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 45, + "style_id": 24, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5469999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + 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0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8879275882298163, + -2.685077956166212, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0f94da4af382d8ed8fab0d1286e677977cf14d0 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 28, + "style_id": 44, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { 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}, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + 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a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4c4f592e608b5cd57d5f83bb97ba59200170bd9 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,411 @@ +{ + "layout_id": 32, + "style_id": 40, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "opencabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c9516d9d6591fc5350d25384e163d8c684367d0 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,453 @@ +{ + "layout_id": 13, + "style_id": 47, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8746971929564235, + -0.8964654007445403, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99bc52fe11409b927e1929838b7ea6ddb87b23e9 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 27, + "style_id": 22, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "wine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + 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b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e384ffd7f3b6c9c1fddd178b6b4a42bf8a1638b4 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,414 @@ +{ + "layout_id": 38, + "style_id": 36, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8249329999999999, + 0.371617 + ], + "height": 0.2666666666666667, + 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"hingecabinet_4_left_group_1", + "dining_table": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8125586637510303, + -3.486658049316287, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c58586a68bfcfb5dc3078f0f2cb8e17fceb6dd96 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 53, + "style_id": 52, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.980032594685758, + -4.418972676733941, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ffc6932789a653b9040ef76472811d5da28b9af1 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,528 @@ +{ + "layout_id": 29, + "style_id": 14, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "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": "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": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "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" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "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" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + 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cabinet and move them to the dining counter.", + "fixture_refs": { + "cab": "cab_1_left_group", + "dining_table": "island_island_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": [ + 0.13220467089694457, + -5.1380353329969495, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89b3e7c6ad6ae07c7f587b565a4d6376d02c06b9 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 19, + "style_id": 45, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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_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" + }, + "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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "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" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8248120875646916, + -1.0523509252703662, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3028de81d74621575f1668310eb45898fb3876e2 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 17, + "style_id": 54, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_4_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_4_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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" + }, + "window_group_room": { + "cls": "Window" + }, + "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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + 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-0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13c8f7318674157130c20c9a5e35daf5de287e47 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,411 @@ +{ + "layout_id": 11, + "style_id": 49, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_12/model.xml" + }, + 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+ 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.934284212791681, + -4.188976092941988, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca466e063498c13d0c13911b5d94def3660d16cc --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 26, + "style_id": 14, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.8, + 0.45 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.8, + 0.45 + ], + "height": 0.41500000000000004, + "name": "level0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "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": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "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" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Get the candle and the beer from the cabinet and move them to the dining counter.", + "fixture_refs": { + "cab": "cab_3_main_group", + "dining_table": "island_island_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": [ + 2.9375446123670037, + -0.8199003803791491, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b65ccf27e59f55fa1ed5fd33d9d90d10fbb87c6e --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 30, + "style_id": 37, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_4_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_4_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "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_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Get the candle and the beer from the cabinet and move them to the dining counter.", + "fixture_refs": { + "cab": "cab_4_left_group", + "dining_table": "dining_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": 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0000000000000000000000000000000000000000..26dacb801e4ec43b359e1d1f655409ed6f6a7c7a --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 21, + "style_id": 13, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.526, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": 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"graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.931, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..0fbd9cf7bd2e1b500db6ddcd77b76326dadb13cc --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 48, + "style_id": 30, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.650733, + 0.309143 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + 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b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 46, + "style_id": 38, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + 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0000000000000000000000000000000000000000..9b876421ef6ea1a87510a7290b611e273995db7a --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,393 @@ +{ + "layout_id": 41, + "style_id": 17, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554, + 0.399 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + 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b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e233a50bf05924dceebb76d126c3c9902c0316c --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 49, + "style_id": 47, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": 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a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33bb2b0352ee1c37f59d58d6f8b9bf67ed7af1be --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 19, + "style_id": 45, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.798, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.798, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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_main_3_room": { + "cls": "Wall" + }, + 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0000000000000000000000000000000000000000..cfc4431503618ce16cdac49ce80273cfcd3e87b9 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,528 @@ +{ + "layout_id": 29, + "style_id": 57, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + 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a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd3dbf3ad6b0e9411e6e596b8b25c88c92efa736 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,411 @@ +{ + "layout_id": 32, + "style_id": 54, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5400400000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5400400000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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" + }, + 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"type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 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"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" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + 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+ "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Get the candle and the liquor from the cabinet and move them to the dining counter.", + "fixture_refs": { + "cab": "cab_3_main_group", + "dining_table": "island_island_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": [ + 4.586474811906495, + -0.7940234937296822, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf3aa19b3cc0ea746736daae62527d2d73cb1e38 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 17, + "style_id": 56, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.735, + 0.395 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.735, + 0.395 + ], + "height": 0.41500000000000004, + "name": "level0" + } + } + ], + "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" + }, + "window_group_room": { + "cls": "Window" + }, + "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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "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" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + 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"dining_table": "island_island_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": [ + 4.832890695793159, + -3.697972727787037, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c5b1d7f96f9a4caeb2ef35c2466c5d7327df817 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 17, + "style_id": 26, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.735, + 0.395 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + 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"dining_table": "island_island_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": [ + 4.836523546468806, + -0.9197342136608659, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63fc8bf80e7245acdc680cf10f0ad8a5be670fc3 --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,411 @@ +{ + "layout_id": 11, + "style_id": 47, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": 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"candle", + "graspable": true, + "placement": { + "fixture": "opencabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4645 + ], + "size": [ + 1.19, + 0.457 + ], + "height": 0.4495, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "opencabinet_2_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "wine", + "split": "train", + "mjcf_path": 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{ + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8107446997662655, + -1.5101755620941255, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82230e18c81ba83591afb9fa184ec4248de11f5c --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 30, + "style_id": 18, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.8, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "alcohol", + "drink" + ], + "groups": [ + "alcohol" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.8, + 0.4 + ], + "height": 0.41500000000000004, + "name": "level0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + 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0000000000000000000000000000000000000000..4a42239b03861aab111ec87a5ce574593037866f --- /dev/null +++ b/pretrain/composite/DateNight/20250725/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 45, + "style_id": 36, + "object_cfgs": [ + { + "name": "decoration", + "obj_groups": "candle", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "candle" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5469999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "alcohol", + "obj_groups": "alcohol", + "graspable": true, + "placement": 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}, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7827075166084742, + -0.9904926090258789, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d340d8d91b19b237f23823d259e40ce0f18f645b --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,456 @@ 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"HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + 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a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e42bb51fb0bbcfe9e845f67e68495586d0f8c751 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,592 @@ +{ + "layout_id": 39, + "style_id": 58, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "singlecabinet_3_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + 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"cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "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": "Open the cabinet, pick the kettle from the cabinet, and place it in the sink.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cab": "singlecabinet_3_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, + 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a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5761fabbe5d1afbae7949e31413524faef75ba40 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,412 @@ +{ + "layout_id": 11, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle004/model.xml" + }, 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+ 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d56e3a4bca475622ee7bcb2bd0840eb1fd43882 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,613 @@ +{ + "layout_id": 25, + "style_id": 47, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": 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0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.04, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_1_right_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "scissors", + "tool" + ], + "groups": [ + "all" + ], + "cat": "scissors", + "split": "train", + "mjcf_path": 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+ ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7995525830767315, + -3.127926417945364, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5655aa18da83625a8d726a7d5554a3276c05856c --- /dev/null +++ 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b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41bc1c92f7d04d32197c80984ac5c387aec75996 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 28, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44109897aa29b4ca756879b79c78842a96e9ad3b --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 28, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": 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0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6830418700733627, + -0.8083056572815888, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3545d08ffc8f3c0f5c2a22e41c9dd53ff6099a0c --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,417 @@ +{ + "layout_id": 38, + "style_id": 48, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02dd4db69e22590b37778d786188b68b741f3c28 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 35, + "style_id": 51, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 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b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..265fe3a33cc73a015a104f00494574c8545904e9 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,438 @@ +{ + "layout_id": 53, + "style_id": 46, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ 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a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ab2b9f2e083548c27003f25b50a27cd88cd858e --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 27, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_14/model.xml" + }, + 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cabinet, pick the kettle from the cabinet, and place it in the sink.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cab": "hingecabinet_4_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cream_cheese_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cream_cheese_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.13265446815189705, + -0.02653376993221513, + -0.2274350761583751 + ], + "size": [ + 0.2924745079187015, + 0.2707687984018085 + ], + "height": 0.15310045364680483, + "name": "basin" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + 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b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..078ea613ccefed94af81df3a337692771f486612 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,491 @@ +{ + "layout_id": 35, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle013/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ 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"fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554049, + 0.39917 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "train", + 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b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,505 @@ +{ + "layout_id": 17, + "style_id": 53, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.735, + 0.395 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_1_right_group_1", + "size": [ + 0.25, + 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"cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "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_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": 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0000000000000000000000000000000000000000..6d35568c8252faae78cdf4bc5bd11edfa9f5adba --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,595 @@ +{ + "layout_id": 39, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "singlecabinet_4_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle013/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.746, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + 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newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7acde6bbf1245ab4a023513a860031c77167e8a4 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 31, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": 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+} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e68d3ee93eee8d034a967446eeb9a89e765969c6 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,346 @@ +{ + "layout_id": 40, + "style_id": 53, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": 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"info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.34, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_14/model.xml" + }, + "reset_region": { + "offset": [ + 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file mode 100644 index 0000000000000000000000000000000000000000..86db854e7190c2ba6e93d1a907b7ed8beea8a0f2 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 35, + "style_id": 47, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + 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0000000000000000000000000000000000000000..50051be4752abba7b4a20aab437f19c4b2ba5d0b --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 29, + "style_id": 55, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "distr_sink", 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"init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d69ab22c0490c61a3c932b213fd149cea8d22ab --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 28, + "style_id": 54, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6706245989839257, + -0.7879733641818586, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf7c26301ce76cf6fe5615c395915bbb7815380c --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 35, + "style_id": 17, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + 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] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d0788fc302097b8283d170d6b5f6accdaf7fda --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,364 @@ +{ + "layout_id": 34, + "style_id": 48, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": 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b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 56, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_5_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.227805, + 0.309141 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_island_group_1", + 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b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 11, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_left_group", + "size": [ + 0.25, + 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--git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea3045e3cee1bdc304721680d56085a3547dbfee --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 57, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": 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-0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e61f679c92642f4a30cce1fe37791a7e72de67cd --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 21, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": 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a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7793fb33a9872a4c9a02b5af3b5f18f5861c3f0 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 53, + "style_id": 18, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706343213793446 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8780f32099cdfe6bbce8e150df43133bd912ef9 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 35, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + 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a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91ef9e2d0f10803e08cc6ddeff16806e8956f108 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,478 @@ +{ + "layout_id": 23, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle003/model.xml" + }, 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a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ba97b87000bb8c405a43a4ecd24f7f5eb500879 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 33, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_10/model.xml" + }, + 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a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee6b978bf7070f49bfbd2633a1a1d0ca1eea3dd --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 28, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_1/model.xml" + }, + 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0000000000000000000000000000000000000000..51aa35812688b23482134cdaa09d07a2cc0051fe --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 43, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.48100000000000004, + 0.372 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": 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+ "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5684645262956702, + -1.5900669208458507, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71e17fcf68f330e453267b9d5245a5b326b4e9f4 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 22, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6930000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_1_left_group", + 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0.8308566536048265, + -3.101241434730677, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27f05afdca1f90d73304c3bfa5f8805b5f86587d --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 58, + "style_id": 56, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + 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"placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "wooden_spoon", + "split": "train", + 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[ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_10/model.xml" + }, + 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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": [ + 0.7806166002129621, + -2.3089104962973197, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f7bac8dca1a55c4f7694ad7145e0eeba3ff7189 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 13, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + 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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/FillKettle/20250721/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1509ef8111b28c1c23fb468ae803ac39c2ec8661 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 24, + "style_id": 16, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": 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b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf78e691a312a59fd4f1342c709c28067e0decc9 --- /dev/null +++ b/pretrain/composite/FillKettle/20250721/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 43, + "style_id": 17, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_left_group_1", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ 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+ }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, 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+ }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the salami and asparagus from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.763447786374017, + -1.0885505784230194, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "source_rack_index": -2, + "dest_rack_index": -1 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1929ce0ef5d7d1ca36bf219536fdb79c28d88c38 --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 11, + "style_id": 29, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "full_depth_region": true, + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0743190912, + 0.12181818000000003, + 0.08545454520000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "grapes", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "grapes", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/grapes/grapes_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.029145152982939876, + 0.08653084690922787, + 0.5007559583214952 + ], + "size": [ + 0.6321433579462283, + 0.5602185491801261 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "item2_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.036815696280000004, + 0.200999997, + 0.035999999639999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebabs", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kebabs", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/kebabs/kebabs_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.029145152982939876, + 0.08653084690922787, + 0.5007559583214952 + ], + "size": [ + 0.6321433579462283, + 0.5602185491801261 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + 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"cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Move the grapes and kebabs from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.124058340178606, + -0.9992797119604323, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "source_rack_index": -1, + "dest_rack_index": -2 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..167f9cf036b64d5e44aef8e531f314048d05c204 --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,573 @@ +{ + "layout_id": 15, + "style_id": 30, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_main_group_1", + "full_depth_region": true, + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4560667149425604 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "item2_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.022108, + 0.06904, + 0.037036 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4560667149425604 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move the lemon and lemon wedge from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf.", + "fixture_refs": { + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.377604442976816, + -0.5720527092680026, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "source_rack_index": -1, + "dest_rack_index": -2 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c25ff0615624acd99f344e768768ee571da0f76 --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 37, + "style_id": 51, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "full_depth_region": true, + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher008/model.xml" + }, + "reset_region": { + "size": [ + 0.9628116541926153, + 0.650008 + ], + "offset": [ + 0.9535126729036925, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.10278409140000003, + 0.10004629342499999, + 0.09357954806249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "artichoke", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "artichoke", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/artichoke/artichoke_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "item2_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05837120895000003, + 0.055593724350000005, + 0.04965908955000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "walnut" + ], + "groups": [ + "all" + ], + "cat": "walnut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/walnut/walnut_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_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_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "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" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "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" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "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_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Move the artichoke and walnut from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1078717529391333, + -0.5637746645857409, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "source_rack_index": -1, + "dest_rack_index": -2 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c798983247e7e0b396e8145c0f143648890f347d --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 39, + "style_id": 17, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_main_group_1", + "full_depth_region": true, + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "size": [ + 2.170852296191323, + 0.65 + ], + "offset": [ + 1.764573851904339, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + 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"wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_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" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "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" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "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": "Move the walnut and cherry from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.074132601190499, + -1.1108749806743665, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "source_rack_index": -2, + "dest_rack_index": -1 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..69839ceca6c1ae69a356313e3c3581f88683966b --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,518 @@ +{ + "layout_id": 26, + "style_id": 56, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "full_depth_region": true, + "min_size": [ + 0.1581374417947812, + 0.11599491584893544, + 0.17765151950000005 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pitcher/pitcher_12/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0542592, + 0.040534362, + 0.030523500000000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "item2_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.08765369024999997, + 0.08574409374999996, + 0.08882575712499996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pomegranate", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pomegranate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pomegranate/pomegranate_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + 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+ "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "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": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "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" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the marshmallow and pomegranate from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf.", + "fixture_refs": { + "fridge": "fridge_main_group", + "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, + 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": [ + 3.8671896600648177, + -1.1093366170167327, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "source_rack_index": -1, + "dest_rack_index": -2 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4faed37bceef74199940812e607b9d8b1fbeeed8 --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,598 @@ +{ + "layout_id": 12, + "style_id": 32, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_1_left_group", + "full_depth_region": true, + "min_size": [ + 0.16717250900000002, + 0.12486206250000004, + 0.177651516 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pitcher/pitcher_11/model.xml" + }, + "reset_region": { + "size": [ + 0.808998035691405, + 0.65 + ], + "offset": [ + -0.8205009821542976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_1_left_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.16802720000000002, + 0.1203952, + 0.060301464000000006 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware034/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "item2_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_1_left_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_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" + }, + "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": "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" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "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": "PanelCabinet" + }, + "box_3_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" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_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_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the tupperware and orange from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf.", + "fixture_refs": { + "fridge": "fridge_1_left_group", + "counter": "counter_1_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": [ + 1.1143289780233134, + -3.5206304719729316, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "source_rack_index": -1, + "dest_rack_index": -2 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7231aa7b6e410b0c1f90db7f725a13a269e00c25 --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,438 @@ +{ + "layout_id": 37, + "style_id": 27, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "full_depth_region": true, + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml" + }, + "reset_region": { + "size": [ + 1.0940063373000382, + 0.650008 + ], + "offset": [ + 0.887915331349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.04565990249999998, + 0.07613636249999998, + 0.03977272724999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "radish", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "radish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/radish/radish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "item2_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06704670752837864, + 0.1550091708013841, + 0.04983333355 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + 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b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 58, + "style_id": 16, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "full_depth_region": true, + "min_size": [ + 0.1581374417947812, + 0.11599491584893544, + 0.17765151950000005 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pitcher/pitcher_12/model.xml" + }, + "reset_region": { + "size": [ + 1.761688209884344, + 0.65 + ], + "offset": [ + -0.7509558950578279, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + 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}, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sausage", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sausage", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/sausage/sausage_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + 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"stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "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_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the chili pepper and sausage from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_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, + 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+ "layout_id": 36, + "style_id": 37, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_front_group_1", + "full_depth_region": true, + "min_size": [ + 0.13992326600000002, + 0.09780496600000002, + 0.177651516 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pitcher/pitcher_0/model.xml" + }, + "reset_region": { + "size": [ + 1.1105, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + 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+ 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/sweet_potato/sweet_potato_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + 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"layout_id": 56, + "style_id": 21, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_right_group_1", + "full_depth_region": true, + "min_size": [ + 0.13751999099999998, + 0.10778189450000002, + 0.177651516 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pitcher/pitcher_3/model.xml" + }, + "reset_region": { + "size": [ + 1.62827, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + 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+ "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sushi", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sushi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/sushi/sushi_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_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" + }, + 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"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" + }, + 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"cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the corn and sushi from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_right_group_1", + "counter": "counter_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": [ + 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b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 30, + "style_id": 36, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "full_depth_region": true, + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.06629695839999997, + 0.07979124959999995, + 0.056484244799999965 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "item2_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.0660399021, + 0.1370454579, + 0.049090911300000005 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "burrito", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "burrito", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/burrito/burrito_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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+ }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "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_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the cake and burrito from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_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, + 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b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 58, + "style_id": 12, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_1", + "full_depth_region": true, + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "size": [ + 1.6379275477734425, + 0.65 + ], + "offset": [ + -0.8128362261132787, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + 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"hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + 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Then, place the pitcher from the counter on the cleared second highest shelf.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1473870927969372, + -2.075783811851362, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "source_rack_index": -2, + "dest_rack_index": -1 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f66d051f0e2a780d130c320eec43a0e209d85a2 --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 49, + "style_id": 59, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "fridgefrenchdoor_left_group_2", + "full_depth_region": true, + "min_size": [ + 0.1581374417947812, + 0.11599491584893544, + 0.17765151950000005 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pitcher/pitcher_12/model.xml" + }, + "reset_region": { + "size": [ + 2.078352, + 0.972606 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "item1_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.044803756800000004, + 0.0913636404, + 0.05590909259999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + -0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beet", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "beet", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/beet/beet_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "item2_source", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.038938435800000004, + 0.1675000008, + 0.03750000045000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.3, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "salami", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "salami", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/salami/salami_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + 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{ + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_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": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the beet and salami from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_2", + "counter": "dining_dining_area_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": [ + 0.7175694648773648, + -1.548710530103871, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414378621190933 + ], + "refs": { + "source_rack_index": -1, + "dest_rack_index": -2 + } +} \ No newline at end of file diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/meta/embodiment.json b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/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/RearrangeFridgeItems/20250827/lerobot/meta/episodes.jsonl b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f55f66671e5b4c2e841c8b0c6ffcb1c44deb1b5 --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/meta/episodes.jsonl @@ -0,0 +1,106 @@ +{"episode_index": 0, "tasks": ["Move the salami and asparagus from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1224} +{"episode_index": 1, "tasks": ["Move the grapes and kebabs from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 827} +{"episode_index": 2, "tasks": ["Move the croissant and beet from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 900} +{"episode_index": 3, "tasks": ["Move the cucumber and peach from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1092} +{"episode_index": 4, "tasks": ["Move the apricot and beer from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1209} +{"episode_index": 5, "tasks": ["Move the chicken drumstick and burrito from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 851} +{"episode_index": 6, "tasks": ["Move the hot dog and pork loin from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1109} +{"episode_index": 7, "tasks": ["Move the baguette and radish from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 989} +{"episode_index": 8, "tasks": ["Move the pork loin and onion from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1319} +{"episode_index": 9, "tasks": ["Move the lime and lime from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1136} +{"episode_index": 10, "tasks": ["Move the donut and butter stick from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1718} +{"episode_index": 11, "tasks": ["Move the apple and pickle from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1269} +{"episode_index": 12, "tasks": ["Move the hotdog bun and peach from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1371} +{"episode_index": 13, "tasks": ["Move the sausage and pickle from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1288} +{"episode_index": 14, "tasks": ["Move the bottled drink and potato from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1233} +{"episode_index": 15, "tasks": ["Move the mango and onion from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 925} +{"episode_index": 16, "tasks": ["Move the jug and jam from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1706} +{"episode_index": 17, "tasks": ["Move the sushi and pork chop from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1356} +{"episode_index": 18, "tasks": ["Move the lemon and lemon wedge from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 960} +{"episode_index": 19, "tasks": ["Move the cucumber and tomato from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 841} +{"episode_index": 20, "tasks": ["Move the water bottle and mustard from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1074} +{"episode_index": 21, "tasks": ["Move the steak and sausage from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 851} +{"episode_index": 22, "tasks": ["Move the banana and mayonnaise from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1302} +{"episode_index": 23, "tasks": ["Move the bar and cup from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1430} +{"episode_index": 24, "tasks": ["Move the artichoke and walnut from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1166} +{"episode_index": 25, "tasks": ["Move the walnut and cherry from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 831} +{"episode_index": 26, "tasks": ["Move the sweet potato and cherry from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 994} +{"episode_index": 27, "tasks": ["Move the marshmallow and pomegranate from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1179} +{"episode_index": 28, "tasks": ["Move the tupperware and orange from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1144} +{"episode_index": 29, "tasks": ["Move the banana and marshmallow from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 909} +{"episode_index": 30, "tasks": ["Move the tacos and lemon from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 989} +{"episode_index": 31, "tasks": ["Move the onion and potato from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1241} +{"episode_index": 32, "tasks": ["Move the pork loin and scallops from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 826} +{"episode_index": 33, "tasks": ["Move the radish and eggplant from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1001} +{"episode_index": 34, "tasks": ["Move the scone and cherry from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 958} +{"episode_index": 35, "tasks": ["Move the fish and carrot from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 919} +{"episode_index": 36, "tasks": ["Move the condiment bottle and walnut from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1032} +{"episode_index": 37, "tasks": ["Move the bell pepper and bread from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 831} +{"episode_index": 38, "tasks": ["Move the yogurt and eggplant from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1376} +{"episode_index": 39, "tasks": ["Move the squash and grapes from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1012} +{"episode_index": 40, "tasks": ["Move the onion and chicken drumstick from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1051} +{"episode_index": 41, "tasks": ["Move the beet and hot dog from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 849} +{"episode_index": 42, "tasks": ["Move the orange and radish from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 920} +{"episode_index": 43, "tasks": ["Move the cookie dough ball and hotdog bun from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1101} +{"episode_index": 44, "tasks": ["Move the can and asparagus from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1335} +{"episode_index": 45, "tasks": ["Move the lemon wedge and potato from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1304} +{"episode_index": 46, "tasks": ["Move the jam and bread from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1408} +{"episode_index": 47, "tasks": ["Move the pork loin and apricot from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 991} +{"episode_index": 48, "tasks": ["Move the boxed food and garlic from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1045} +{"episode_index": 49, "tasks": ["Move the chili pepper and sausage from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1259} +{"episode_index": 50, "tasks": ["Move the egg and carrot from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 961} +{"episode_index": 51, "tasks": ["Move the dumpling and tangerine from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1051} +{"episode_index": 52, "tasks": ["Move the bell pepper and cupcake from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1820} +{"episode_index": 53, "tasks": ["Move the apricot and sweet potato from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1262} +{"episode_index": 54, "tasks": ["Move the sausage and scallops from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1271} +{"episode_index": 55, "tasks": ["Move the pork loin and butter stick from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1135} +{"episode_index": 56, "tasks": ["Move the corn and sushi from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 965} +{"episode_index": 57, "tasks": ["Move the mushroom and chicken breast from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1150} +{"episode_index": 58, "tasks": ["Move the beet and grapes from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1197} +{"episode_index": 59, "tasks": ["Move the sushi and scallops from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1116} +{"episode_index": 60, "tasks": ["Move the mayonnaise and corn from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1264} +{"episode_index": 61, "tasks": ["Move the tangerine and sausage from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1116} +{"episode_index": 62, "tasks": ["Move the squash and brussel sprout from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1092} +{"episode_index": 63, "tasks": ["Move the tofu and hotdog bun from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1161} +{"episode_index": 64, "tasks": ["Move the cake and burrito from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1019} +{"episode_index": 65, "tasks": ["Move the tofu and hotdog bun from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1086} +{"episode_index": 66, "tasks": ["Move the radish and lemonade from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1129} +{"episode_index": 67, "tasks": ["Move the avocado and bread from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1224} +{"episode_index": 68, "tasks": ["Move the dumpling and lime from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1411} +{"episode_index": 69, "tasks": ["Move the onion and banana from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1181} +{"episode_index": 70, "tasks": ["Move the mustard and eggplant from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 2000} +{"episode_index": 71, "tasks": ["Move the eggplant and pear from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 886} +{"episode_index": 72, "tasks": ["Move the banana and tacos from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 932} +{"episode_index": 73, "tasks": ["Move the lemon wedge and mustard from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1458} +{"episode_index": 74, "tasks": ["Move the pickle and steak from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1005} +{"episode_index": 75, "tasks": ["Move the water bottle and hotdog bun from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1235} +{"episode_index": 76, "tasks": ["Move the pear and bottled drink from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1031} +{"episode_index": 77, "tasks": ["Move the chicken breast and fish from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 990} +{"episode_index": 78, "tasks": ["Move the kiwi and jam from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1283} +{"episode_index": 79, "tasks": ["Move the potato and onion from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1113} +{"episode_index": 80, "tasks": ["Move the tangerine and bar from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1114} +{"episode_index": 81, "tasks": ["Move the orange and kiwi from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 877} +{"episode_index": 82, "tasks": ["Move the salami and potato from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1039} +{"episode_index": 83, "tasks": ["Move the pickle and corn from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 943} +{"episode_index": 84, "tasks": ["Move the garlic and radish from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1018} +{"episode_index": 85, "tasks": ["Move the salami and steak from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 980} +{"episode_index": 86, "tasks": ["Move the apple and apricot from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1285} +{"episode_index": 87, "tasks": ["Move the grapes and hotdog bun from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1052} +{"episode_index": 88, "tasks": ["Move the pork chop and lemon from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1463} +{"episode_index": 89, "tasks": ["Move the cheese and lemon wedge from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1330} +{"episode_index": 90, "tasks": ["Move the cupcake and tupperware from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1092} +{"episode_index": 91, "tasks": ["Move the chili pepper and candy from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1722} +{"episode_index": 92, "tasks": ["Move the brussel sprout and kebabs from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1111} +{"episode_index": 93, "tasks": ["Move the chicken breast and apple from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1250} +{"episode_index": 94, "tasks": ["Move the bread and juice from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1066} +{"episode_index": 95, "tasks": ["Move the tacos and bottled water from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1028} +{"episode_index": 96, "tasks": ["Move the lemon and bread from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1170} +{"episode_index": 97, "tasks": ["Move the cupcake and yogurt from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1093} +{"episode_index": 98, "tasks": ["Move the apricot and lemon wedge from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 1027} +{"episode_index": 99, "tasks": ["Move the broccoli and brussel sprout from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1173} +{"episode_index": 100, "tasks": ["Move the beet and salami from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."], "length": 995} +{"episode_index": 101, "tasks": ["Move the mayonnaise and banana from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1025} +{"episode_index": 102, "tasks": ["Move the bread and lobster from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 903} +{"episode_index": 103, "tasks": ["Move the tangerine and dumpling from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1341} +{"episode_index": 104, "tasks": ["Move the jam and mango from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 943} +{"episode_index": 105, "tasks": ["Move the onion and bar from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."], "length": 1317} diff --git a/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a35dbce6815cabb213a0b2caf3865f91c26b20b3 --- /dev/null +++ b/pretrain/composite/RearrangeFridgeItems/20250827/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,106 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5766245744851528]], [[0.5601182744091361]], [[0.5397313758302548]]], "std": [[[0.23134194037877034]], [[0.2334100865149468]], [[0.24456428064268762]]], "count": [206]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4712566152790853]], 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Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 1, "task": "Move the grapes and kebabs from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 2, "task": "Move the croissant and beet from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 3, "task": "Move the cucumber and peach from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 4, "task": "Move the apricot and beer from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 5, "task": "Move the chicken drumstick and burrito from the second highest shelf to the top shelf to make space. 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Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 11, "task": "Move the apple and pickle from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 12, "task": "Move the hotdog bun and peach from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 13, "task": "Move the sausage and pickle from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 14, "task": "Move the bottled drink and potato from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 15, "task": "Move the mango and onion from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 16, "task": "Move the jug and jam from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 17, "task": "Move the sushi and pork chop from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 18, "task": "Move the lemon and lemon wedge from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 19, "task": "Move the cucumber and tomato from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 20, "task": "Move the water bottle and mustard from the second highest shelf to the top shelf to make space. 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Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 36, "task": "Move the condiment bottle and walnut from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 37, "task": "Move the bell pepper and bread from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 38, "task": "Move the yogurt and eggplant from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 39, "task": "Move the squash and grapes from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 40, "task": "Move the onion and chicken drumstick from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 41, "task": "Move the beet and hot dog from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 42, "task": "Move the orange and radish from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 43, "task": "Move the cookie dough ball and hotdog bun from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 44, "task": "Move the can and asparagus from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 45, "task": "Move the lemon wedge and potato from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 46, "task": "Move the jam and bread from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 47, "task": "Move the pork loin and apricot from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 48, "task": "Move the boxed food and garlic from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 49, "task": "Move the chili pepper and sausage from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 50, "task": "Move the egg and carrot from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 51, "task": "Move the dumpling and tangerine from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 52, "task": "Move the bell pepper and cupcake from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 53, "task": "Move the apricot and sweet potato from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 54, "task": "Move the sausage and scallops from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 55, "task": "Move the pork loin and butter stick from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 56, "task": "Move the corn and sushi from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 57, "task": "Move the mushroom and chicken breast from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 58, "task": "Move the beet and grapes from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 59, "task": "Move the sushi and scallops from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 60, "task": "Move the mayonnaise and corn from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 61, "task": "Move the tangerine and sausage from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 62, "task": "Move the squash and brussel sprout from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 63, "task": "Move the tofu and hotdog bun from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 64, "task": "Move the cake and burrito from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 65, "task": "Move the tofu and hotdog bun from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 66, "task": "Move the radish and lemonade from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 67, "task": "Move the avocado and bread from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 68, "task": "Move the dumpling and lime from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 69, "task": "Move the onion and banana from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 70, "task": "Move the mustard and eggplant from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 71, "task": "Move the eggplant and pear from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 72, "task": "Move the banana and tacos from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 73, "task": "Move the lemon wedge and mustard from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 74, "task": "Move the pickle and steak from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 75, "task": "Move the water bottle and hotdog bun from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 76, "task": "Move the pear and bottled drink from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 77, "task": "Move the chicken breast and fish from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 78, "task": "Move the kiwi and jam from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 79, "task": "Move the potato and onion from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 80, "task": "Move the tangerine and bar from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 81, "task": "Move the orange and kiwi from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 82, "task": "Move the salami and potato from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 83, "task": "Move the pickle and corn from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 84, "task": "Move the garlic and radish from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 85, "task": "Move the salami and steak from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 86, "task": "Move the apple and apricot from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 87, "task": "Move the grapes and hotdog bun from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 88, "task": "Move the pork chop and lemon from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 89, "task": "Move the cheese and lemon wedge from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 90, "task": "Move the cupcake and tupperware from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 91, "task": "Move the chili pepper and candy from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 92, "task": "Move the brussel sprout and kebabs from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 93, "task": "Move the chicken breast and apple from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 94, "task": "Move the bread and juice from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 95, "task": "Move the tacos and bottled water from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 96, "task": "Move the lemon and bread from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 97, "task": "Move the cupcake and yogurt from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 98, "task": "Move the apricot and lemon wedge from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 99, "task": "Move the broccoli and brussel sprout from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 100, "task": "Move the beet and salami from the top shelf to the second highest shelf to make space. Then, place the pitcher from the counter on the cleared top shelf."} +{"task_index": 101, "task": "Move the mayonnaise and banana from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 102, "task": "Move the bread and lobster from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 103, "task": "Move the tangerine and dumpling from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 104, "task": "Move the jam and mango from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 105, "task": "Move the onion and bar from the second highest shelf to the top shelf to make space. Then, place the pitcher from the counter on the cleared second highest shelf."} +{"task_index": 106, "task": "RearrangeFridgeItems"}