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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000029/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79a3385717be2c2826137aa83e726be4fd0f4056 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000030/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..653984842cc8790aa9d49a811a30b09e3582506f --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + 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"placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, 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"HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_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": "Wash the lettuce in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000043/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3bc0bf46448f3ba34e368fd8e32e5b9ba0af625f --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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": { + 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at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000045/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7363f0828857f14b57036e1387f51fc9b5e2906 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": 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it.", + "fixture_refs": { + "sink": "sink_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8387692535424943, + -1.7985506056967056, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000051/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bcfa09803f5b99581c97fb0484e940715b80c71c --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + 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"groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + 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file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000077/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79b0c4a7257f60c84ae45a97899eba44fdc72af4 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": 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+ "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.066017412265738, + -2.076014064516288, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000085/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd9090b53bba5c56005210cbc247081007e8a122 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "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" + }, + 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"placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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": 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"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" + }, + "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" + }, + "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" + }, + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": 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0000000000000000000000000000000000000000..1422b7a5169e45be507311097180a914704a4f78 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000125/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1834410605119023, + -1.7583791326255183, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000151/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000151/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73285c50c6b80b9b600ea9ccec01727701b9f4a3 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000151/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000154/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000154/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eff0b34683cfe48906dafeb8406cb70d14f1008f --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000154/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", 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+ ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 0.5470704714618846, + 0.65 + ], + "offset": [ + -1.2264647642690578, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": 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-0.8099369746570908, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000179/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000179/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce898500223fd8be91667444cd2a50b8f9fe061f --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000179/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + 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+ 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3855682116243524, + -0.7668751255824355, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000221/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000221/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a3ce2a3ffcce32fe4149ce2f1d525b110ece5f4 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000221/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + 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"sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + 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file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000233/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000233/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc8a5990c3bcd0d00059ccc7d8f76e151097d6b --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000233/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000236/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 0.5470704714618846, + 0.65 + ], + "offset": [ + -1.2264647642690578, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + 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+ "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "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" + }, + 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file mode 100644 index 0000000000000000000000000000000000000000..3f6254bd8717ac544f2f6686618774e1756f86e6 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000246/ep_meta.json @@ -0,0 +1,334 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0378236153639921, + 0.65 + ], + "offset": [ + 0.7310881923180039, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "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" + }, + 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"coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_3_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wash the lettuce in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_main_group", + "counter": "counter_main_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": [ + 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index 0000000000000000000000000000000000000000..b04071a6af2176264cd8cbc9a8deb983677755a7 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000250/ep_meta.json @@ -0,0 +1,334 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0378236153639921, + 0.65 + ], + 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index 0000000000000000000000000000000000000000..58934f00440e58e43cbd2ed3804b312075ba7403 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000262/ep_meta.json @@ -0,0 +1,334 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.0378236153639921, + 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index 0000000000000000000000000000000000000000..908ac9b63beeea90ba2f5b4c5dcdb06b66ac4b5c --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000264/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 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] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000282/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000282/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3032d189396f0f2df9a8dc92aaf90393298d16d --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000282/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000294/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + -0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000346/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000346/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..264968ad5481a66a157842389dc507b0015e8f0b --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000346/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "fixtures": { + 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"in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000350/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000350/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3aea1a431fa9319a9dd3059641115b7eaa614578 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000350/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000359/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000359/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21b299a13805d819deab5a532e2de77a73d52f46 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000359/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", 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0000000000000000000000000000000000000000..bd63d0a765c9d81ce9822883b0b6b8037067dba4 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000378/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + 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0000000000000000000000000000000000000000..d0f6ec52a3e6f519c13386cbd0939251b5b49f22 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000387/ep_meta.json @@ -0,0 +1,334 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.0378236153639921, + 0.65 + 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100644 index 0000000000000000000000000000000000000000..928c9f76e8c364c9720fa4bd203a122b227712bf --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000388/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + 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0000000000000000000000000000000000000000..85619adeb8c5fc08d51018948ddce496e27bae4d --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000393/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + 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"lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000454/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": 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