diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000000/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4a2982458e9737c875fb8b39d012d32cc4be642 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 30, + "style_id": 53, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + 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b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11736e0c54b1df8510176f7c50b79696b1e32754 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,511 @@ +{ + "layout_id": 35, + "style_id": 20, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06833694022376162, + 0.09999916398829467, + 0.06596303001358675 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0022655663683286698, + 0.010857582591533216, + -0.11495800748760356 + ], + "size": [ + 0.530276883110897, + 0.38660649279685244 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.06861722785325214, + 0.08054430004212317, + 0.039939231817500004 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2316871925490003, + -1.1675139142979991, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961519493434 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000002/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a5e5fb9c8eb74c1be43ff69202291e5368065ad --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 45, + "style_id": 11, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.555494155928808, + -3.6798350225282426, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000004/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ea28fdfb9e3badc273fa127e1ce35414ce48ca2 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 17, + "style_id": 11, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0024070749311531636, + -0.02692151688969198, + -0.14009712099028757 + ], + "size": [ + 0.5384965393873253, + 0.39268964350978874 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.07020072690000005, + 0.07020074400000004, + 0.049208070075000034 + ] + }, + "size": [ + 0.4, + 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--git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000008/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0dc54fe61e8c8e6bfa010f447c11cbf71181d28 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 51, + "style_id": 49, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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/dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 47, + "style_id": 12, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": 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3.7363264248707195, + -1.2292096075948762, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378857158503 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000011/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..225c9626ef53b673a2b1174eba0c648f92521734 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 31, + "style_id": 60, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06870559919999997, + 0.06802645079999997, + 0.06348796859999997 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a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a8ad47468b2e8701c057e64b17561ec8c8954ba --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 11, + "style_id": 41, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", 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b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,528 @@ +{ + "layout_id": 49, + "style_id": 42, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.0671310922831356, + 0.09899880177224696, + 0.06861402506961725 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.0013911834338693752, + 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b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aaed1cedf8944e75ce4184f1fb833dfb58cb14c5 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 28, + "style_id": 49, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.11513056808493138, + 0.1660108392686683, + 0.03863352575523014 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + 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No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000030/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3b382963a72c4ccd3a322a029742d3e1659828e --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 35, + "style_id": 36, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + 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[ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000032/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39940a27b9c272f31826eb5eacb35c3644e0bdae --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 60, + "style_id": 14, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + 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a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000037/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afaf4e8d4e9d9d0446cec8ff8cd00d3308de5196 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 13, + "style_id": 14, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.059881076589999985, + 0.07926693580999998, + 0.06243042999499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", 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"name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": 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b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db86a0f193653b7bd5bfe12293ab61a53293f9d3 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 58, + "style_id": 18, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + 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+ 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000066/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db1381f967af70084bab74ead19b7d7d22046af1 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,614 @@ +{ + "layout_id": 39, + "style_id": 54, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + 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0000000000000000000000000000000000000000..53632caea27b0702d387ffde67cd09636a3064da --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 31, + "style_id": 21, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000072/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0dbf092537596c8be85ab896d29a2b4867f87e8 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 28, + "style_id": 58, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", 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+ "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": [ + 4.502847026509325, + -4.254445288359022, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000074/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2411e0fee0d955940e22f60446e7df6134a9a064 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 48, + "style_id": 31, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.012919658098905995, + 0.11229077411789155, + -0.011415680051977404 + ], + "size": [ + 0.7172912599082715, + 0.537243236690721 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + 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0000000000000000000000000000000000000000..02a91134a80d4813fa159320d14b099814e7c130 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 24, + "style_id": 26, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": 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"cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + 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"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": [ + 6.204499886133421, + -2.2309069838239077, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000076/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..594d198091bbc2bdb16412a328863e69847dbbf1 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 32, + "style_id": 31, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.0671310922831356, + 0.09899880177224696, + 0.06861402506961725 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.19945279432216936, + 0.07549870568124531, + -0.43189004519085716 + ], + "size": [ + 0.35395769817338535, + 0.5583540575535302 + ], + "name": "fridge_drawer1" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.06902307935999999, + 0.14168519711999997, + 0.049903595999999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + 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}, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Fully close the fridge drawer.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2284236822466506, + -3.0753813320535333, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000077/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70db148824899221f8f63e0b8832faa5ed040af7 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 29, + "style_id": 32, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.072704732, + 0.09999866199999999, + 0.07166651999999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.16702733472123024, + 0.001235011619542134, + -0.1526586046011906 + ], + "size": [ + 0.34784090578975907, + 0.3834909658174527 + ], + "name": "fridge_drawer3" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.04966574344000001, + 0.06761173224000001, + 0.04982757120000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_3/model.xml" + }, + "reset_region": { + "offset": [ + 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+ "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Fully close the fridge drawer.", + "fixture_refs": { + "fridge": "fridge_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3328831294154098, + -1.1562971575701393, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000078/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8ceef29a52d3394aa42f9165a36e2b6d802bf54 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 36, + "style_id": 15, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0013911834338693752, + 0.07982894673461718, + -0.14093114619312602 + ], + "size": [ + 0.5953528441889928, + 0.4336801283224632 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + 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+ 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000079/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..913802329af114d5c2ee7f7543e42538ded3eb69 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 59, + "style_id": 45, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07384239449999998, + 0.07426866764648381, + 0.055746330854518675 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": 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b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cf6b5451322f48c31168b78b0b91b0f5b7eea43 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 11, + "style_id": 42, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05840713366587696, + 0.1199999940887535, + 0.05755418774893327 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "pear", + 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b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 13, + "style_id": 21, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05881770738660883, + 0.08999999474454902, + 0.058182302091294484 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.002089651054327485, + 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a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000085/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec6779afa22f7010be7d90608ba89f5f31aff78d --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,396 @@ +{ + "layout_id": 55, + "style_id": 34, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", 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+ ], + "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": [ + 4.206690233082558, + -4.52803193047779, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712234187123444 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000092/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1caeb8fbc6974b003a12c8290f756156a2646f21 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 27, + "style_id": 42, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06870559919999997, + 0.06802645079999997, + 0.06348796859999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.008393459861612995, + 0.061650265226465106, + -0.20949818804690976 + ], + "size": [ + 0.5801234750739421, + 0.5244053594369383 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0012690344291763078, + 0.10221623225815374, + 0.48217507511441493 + ], + "size": [ + 0.6286309429983322, + 0.5393923430638217 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.154102711749704, + -2.910914018840103, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000093/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7fdb95c9899c0aad2679d97413aa686d65c3f8ba --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,635 @@ +{ + "layout_id": 25, + "style_id": 22, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.0671310922831356, + 0.09899880177224696, + 0.06861402506961725 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.012919658098905995, + 0.11229077411789155, + -0.011415680051977404 + ], + "size": [ + 0.7172912599082715, + 0.537243236690721 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11632221931113486, + 0.5912205474372108 + ], + "size": [ + 0.7938666948674687, + 0.5699103618869082 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": 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] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.001765626051181468, + 0.04783960034932222, + -0.05130958586945345 + ], + "size": [ + 0.5934980511895389, + 0.45051878634929654 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.058894473111836036, + 0.16791077536972682, + 0.1028120889924008 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + 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0000000000000000000000000000000000000000..2b57c429d7e97cfb497309599a717f33c273d467 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 54, + "style_id": 52, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": 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newline at end of file diff --git a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000099/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61da2ed748d5ff6d4ecadf36aa214eeff61c6452 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 58, + "style_id": 15, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + 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a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000101/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8ea596f9e63c7429b3501fbd06f088fc527fba0 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 51, + "style_id": 15, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.09141987868029182, + 0.16962953220600965, + 0.035817308717545196 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + 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"graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + 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0000000000000000000000000000000000000000..90cb4a65b2270892b1321798dba42387da8348b7 --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 25, + "style_id": 31, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000110/ep_meta.json b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000110/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..00720e951ac4288683e7e0bebdc174f16d6b724d --- /dev/null +++ b/pretrain/atomic/CloseFridgeDrawer/20250821/lerobot/extras/episode_000110/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 28, + "style_id": 31, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", 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{ + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "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": "Fully close the fridge drawer.", + "fixture_refs": { + "fridge": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "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": [ + 4.775219959120651, + -4.26613338682924, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file