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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.040552522034415554, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028743953796493357, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24720248007000004, 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.035579201562122555, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.028733252874573154, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6161035216202366, + 1.4 + ], + "offset": [ + 0.6498517514665196, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.4548711400735552, + -0.7633499260825484, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000015/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63b4c8dd5df869f28d78474898d96b94be8bea25 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.03130700270778182, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02869941581022102, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24568749157499997, + 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}, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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": [ + 1.346535207823477, + -0.8218557800793637, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000027/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0978de7635a52726b44402d8cf29e3b0bf94e973 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.027468195221403726, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03266905622855395, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.100074126305603, + 0.65 + ], + "offset": [ + 0.3999629368471984, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + 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+ "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.28297305891474, + -0.8474385591964986, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000060/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..485e45f091f710bea7ed74dd81f16fe554ea882a --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.10288141922519942, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028244451992850722, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0497961741213082, + 1.0 + ], + "offset": [ + -0.6001019129393459, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": 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"cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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": [ + 1.1932423049819414, + -0.7689675303501257, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000062/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06a4e7fb65fe20f9f4cfec33c6d5d13e394d6a9f --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1999258801329122, + 0.65 + ], + "offset": [ + -0.35003705993354384, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.03130700270778182, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02869941581022102, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.1399842052393057, + 1.6 + ], + "offset": [ + 0.6550078973803473, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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[ + 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": [ + 3.416253972820614, + -0.7796010310725051, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000066/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7c55e6d413bd033d6ed32dbf7a31cff9745b193 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.10288141922519942, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028244451992850722, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 2.249796168970498, + 1.0 + ], + "offset": [ + -0.00010191551475102756, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.03130700270778182, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02869941581022102, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 2.4399842052305356, + 1.6 + ], + "offset": [ + 0.005007897384732285, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.4111577178304167, + -0.7665578818559742, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000071/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3ff19007781c857b10c46fdc2426b800326cd40 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.04030260879284553, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028043827446066517, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0502038361803159, + 1.0 + ], + "offset": [ + 0.5998980819098421, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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": [ + 1.3704851357844585, + -0.8042449240062841, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000072/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e77868ad2029978f3fcf7c53a737b1f862d2a119 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.034555275335830735, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02917757867652921, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6166965045940636, + 1.4 + ], + "offset": [ + -0.6501482429534331, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": 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"cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.4171495015345363, + -0.7915753438400187, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000073/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ffc77158e03e844239477953db54f4c6efa1ae8 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.027468195221403726, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03266905622855395, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.1999258801329122, + 0.65 + ], + "offset": [ + -0.35003705993354384, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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": [ + 3.223973105240844, + -0.8135800982275305, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000074/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47d021a04865c17ecabfc6a91900e5529f2d7ecc --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.040552522034415554, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028743953796493357, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, 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"cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.034555275335830735, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02917757867652921, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 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+ "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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": [ + 2.959716080361835, + -0.8493813827435759, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000099/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5fed73a3a910e71cffc6fcf5cd1a421d6b7c09dd --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.034555275335830735, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02917757867652921, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6161035216202366, + 1.4 + ], + "offset": [ + 0.6498517514665196, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.8786516939795477, + -0.7815602403198993, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000100/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..afa0fd0caf7d4a4023ec142d15b73e8dd84998db --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.027468195221403726, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03266905622855395, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.100074126305603, + 0.65 + ], + "offset": [ + 0.3999629368471984, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.1999258801329122, + 0.65 + ], + "offset": [ + -0.35003705993354384, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + 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}, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1600157947782348, + 1.6 + ], + "offset": [ + -0.6449921026108827, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031881712773264896, + 0.010943150928497854, + 0.044498573225279434 + ], + "size": [ + 0.025851805051372204, + 0.1956707940418949 + ], + "height": 0.13850158383495265, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.2500741284517756, + 0.65 + ], + "offset": [ + 0.6499629357741121, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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[ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0497961741213082, + 1.0 + ], + "offset": [ + -0.6001019129393459, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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[ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 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"cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.1399842052393057, + 1.6 + ], + "offset": [ + 0.6550078973803473, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.4362687751918903, + -0.8403369685798293, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000139/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000139/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f53a87abe9ece0f7f5b603fb7ee09ca2c6cbcc7 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000139/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.09328373755440962, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.028847541981684405, + 0.13595343894164091 + ], + "height": 0.15284162033823803, + "name": "sideR_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6166965045940636, + 1.4 + ], + "offset": [ + -0.6501482429534331, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.247940875935, + 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"salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1399842052393057, + 1.6 + ], + "offset": [ + 0.6550078973803473, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.2001690947982646, + -0.7539872812737295, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000148/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000148/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f0cced276250753b8ff9c7c6d525b7695b63c03 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000148/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.040552522034415554, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028743953796493357, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24720248007000004, 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"Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": 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"salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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": [ + 1.1167064651475267, + -0.7962370912601932, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000149/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000149/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7a76f2fc3e647d0de003b6af87eb6f03351ec46 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000149/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.027468195221403726, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03266905622855395, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1999258801329122, + 0.65 + ], + "offset": [ + -0.35003705993354384, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + 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+ "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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": [ + 3.539732105546414, + -0.8498626078660707, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000150/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000150/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf61e200f4c54d6e3e4309c27da6ac2b019754b3 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000150/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.034555275335830735, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02917757867652921, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.247940875935, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.232802852625, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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"Drawer" + }, + "stack_3_main_group_3": { + "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" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + 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"stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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": [ + 0.9103377594466253, + -0.813869756959084, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000166/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000166/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24f7d76e321b1974d808ac3549e5c440730c2ddb --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000166/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.09108096735339122, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02930905237664179, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.683303489825889, + 0.8450000000000001 + ], + "offset": [ + -0.00014824574345695396, + 0.27749999999999986, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + 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+ "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.7198430493112067, + -0.7737954030600448, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000168/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000168/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d85f26e7b5ba8ef7484a0002df7131c1f6d6684 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000168/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.100074126305603, + 0.65 + ], + "offset": [ + 0.3999629368471984, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.040552522034415554, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028743953796493357, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.247940875935, 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.04030260879284553, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028043827446066517, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24720248007000004, 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.1399842052393057, + 1.6 + ], + "offset": [ + 0.6550078973803473, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.4351655036246056, + -0.8363071800223855, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000208/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000208/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3d95c38f8f137c38178b98c00df33588aab5bea --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000208/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0497961741213082, + 1.0 + ], + "offset": [ + -0.6001019129393459, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.035579201562122555, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.028733252874573154, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24720248007000004, + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.04030260879284553, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028043827446066517, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.247940875935, 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24568749157499997, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.402964626664835, + -0.8499915499350191, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000238/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000238/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38ea2552c1c7292ad6622d64ef4676366e06e73b --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000238/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.247940875935, + 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+ "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.03130700270778182, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02869941581022102, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.247940875935, + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.040552522034415554, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028743953796493357, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 2.249796168970498, + 1.0 + ], + "offset": [ + -0.00010191551475102756, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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[ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0502038361803159, + 1.0 + ], + "offset": [ + 0.5998980819098421, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.035579201562122555, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.028733252874573154, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.027468195221403726, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03266905622855395, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 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"cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.1999258801329122, + 0.65 + ], + "offset": [ + -0.35003705993354384, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24720248007000004, + 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.1999258801329122, + 0.65 + ], + "offset": [ + -0.35003705993354384, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031881712773264896, + 0.010943150928497854, + 0.044498573225279434 + ], + "size": [ + 0.025851805051372204, + 0.1956707940418949 + ], + "height": 0.13850158383495265, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.2500741284517756, + 0.65 + ], + "offset": [ + 0.6499629357741121, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + 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"microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.100074126305603, + 0.65 + ], + "offset": [ + 0.3999629368471984, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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+ "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + 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[ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.040552522034415554, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028743953796493357, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.04030260879284553, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028043827446066517, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0497961741213082, + 1.0 + ], + "offset": [ + -0.6001019129393459, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, 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"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": [ + 0.926919945170717, + -0.8309032217240545, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000302/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000302/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9837bf01703977c134c8f72a08edb8fb2c06b7e6 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000302/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.09108096735339122, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02930905237664179, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6166965045940636, + 1.4 + ], + "offset": [ + -0.6501482429534331, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.027468195221403726, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03266905622855395, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.232802852625, + 0.23286639915, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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[ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.3279015435793147, + -0.7546617316753553, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000380/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000380/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b22f62dc3abdc630849d57de4c0e1051da9479bd --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000380/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.027468195221403726, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03266905622855395, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 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+ "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.1600157947782348, + 1.6 + ], + "offset": [ + -0.6449921026108827, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.04030260879284553, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028043827446066517, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0497961741213082, + 1.0 + ], + "offset": [ + -0.6001019129393459, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.040552522034415554, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028743953796493357, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.034555275335830735, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02917757867652921, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24568749157499997, + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031881712773264896, + 0.010943150928497854, + 0.044498573225279434 + ], + "size": [ + 0.025851805051372204, + 0.1956707940418949 + ], + "height": 0.13850158383495265, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, + 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"cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + 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"microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031881712773264896, + 0.010943150928497854, + 0.044498573225279434 + ], + "size": [ + 0.025851805051372204, + 0.1956707940418949 + ], + "height": 0.13850158383495265, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 2.549925877128271, + 0.65 + ], + "offset": [ + -3.7061435864460535e-05, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.03187028954639773, + 0.010943150928497854, + 0.044498573225279434 + ], + "size": [ + 0.027585299458798236, + 0.1956707940418949 + ], + "height": 0.13850158383495265, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.247940875935, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 2.4399842052305356, + 1.6 + ], + "offset": [ + 0.005007897384732285, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.034555275335830735, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02917757867652921, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.232802852625, + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24568749157499997, 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[ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24720248007000004, + 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"counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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": [ + 3.3726110351545437, + -0.8448639579285916, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000459/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000459/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e19b5dcfd113cd9a0df4b186feb7dff86b8b4e6 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000459/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.03187028954639773, + 0.010943150928497854, + 0.044498573225279434 + ], + "size": [ + 0.027585299458798236, + 0.1956707940418949 + ], + "height": 0.13850158383495265, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.2499258827083182, + 0.65 + ], + "offset": [ + -0.6500370586458408, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + 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"microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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": [ + 2.153462906688314, + -0.7968289169601372, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000460/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000460/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18f859d6208c602ee10ac1f70f1a2a02f3a4f985 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000460/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.03130700270778182, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02869941581022102, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.232802852625, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.03130700270778182, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02869941581022102, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.1600157947782348, + 1.6 + ], + "offset": [ + -0.6449921026108827, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_3_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": [ + 3.433016492917832, + -0.8061206869578615, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000481/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000481/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9cea739d81d4ee492eace14dd43dc58d5de8f7eb --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000481/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.100074126305603, + 0.65 + ], + "offset": [ + 0.3999629368471984, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_front_group", + "toaster": "toaster_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 + ], + 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.09328373755440962, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.028847541981684405, + 0.13595343894164091 + ], + "height": 0.15284162033823803, + "name": "sideR_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24720248007000004, + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.031823352662456075, + 0.013665242337545028, + 0.010756426371985013 + ], + "size": [ + 0.02875772688742308, + 0.16749589405493812 + ], + "height": 0.16681638449351818, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24568749157499997, + 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[ + 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": [ + 3.306115093909172, + -0.7502584257186875, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000488/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000488/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d07b863e0f046e862406a01d8984471c1d6b7835 --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000488/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.040552522034415554, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028743953796493357, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.24720248007000004, 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+ { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.09328373755440962, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.028847541981684405, + 0.13595343894164091 + ], + "height": 0.15284162033823803, + "name": "sideR_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6161035216202366, + 1.4 + ], + "offset": [ + 0.6498517514665196, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": 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Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "island_island_group", + "toaster": "toaster_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": 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02652662992209747, + 0.025205673868760478, + 0.01695413500585081 + ], + "size": [ + 0.03265166091255241, + 0.17704037528781563 + ], + "height": 0.183744825033606, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.244743326685, + 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[ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10221856842815466, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.027195377330544904, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0502038361803159, + 1.0 + ], + "offset": [ + 0.5998980819098421, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + 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"cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_1_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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": [ + 1.203703506579632, + -0.8015913734568917, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000497/ep_meta.json b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000497/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e06d089ab3d15d7666a0bf4769b5205f5446b08e --- /dev/null +++ b/target/composite/GetToastedBread/20250812/lerobot/extras/episode_000497/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread010/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.04030260879284553, + 0.009326801919293137, + 0.01651991792833343 + ], + "size": [ + 0.028043827446066517, + 0.18344923964743354 + ], + "height": 0.1596100543782548, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 2.249796168970498, + 1.0 + ], + "offset": [ + -0.00010191551475102756, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": 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"cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Start the toaster. Once the lever pops up, take the bread to the plate on the dining counter.", + "fixture_refs": { + "stool": "stool_2_room", + "dining_counter": "counter_1_dining_area_group", + "toaster": "toaster_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 + ], + 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{ + "name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.034555275335830735, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02917757867652921, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.24720248007000004, + 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"name": "obj", + "obj_groups": "sandwich_bread", + "object_scale": [ + 1, + 1, + 1.15 + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread008/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.034555275335830735, + 0.01806913196713049, + 0.028441979553643023 + ], + "size": [ + 0.02917757867652921, + 0.13595343894164091 + ], + "height": 0.15284149967403907, + "name": "sideL_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.24568749157499997, + 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