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"init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000002/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c21c1aa986dcaced3b873320e5a062766022e425 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,557 @@ +{ + "layout_id": 43, + "style_id": 53, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": 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"pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0745, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "decoration", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar005/model.xml" + }, + "reset_region": { + "size": [ + 1.0745, + 0.65 + ], + "offset": [ + 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of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000004/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3e2024f5df3c2defae945e1d1de064b99d49775 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 35, + "style_id": 60, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_island_group", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": 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b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e5b59bd5ca24fee2348fed1edf25d3e9cdf0ba0 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 26, + "style_id": 26, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5992262259761805, + 0.65 + ], + "offset": [ + 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newline at end of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000015/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..786098a9737cf4bdcd2459b40fa11ae6c4dd1b66 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 32, + "style_id": 34, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": 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+++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,505 @@ +{ + "layout_id": 57, + "style_id": 42, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6705392800000002, + 0.65 + ], + "offset": [ + 1.04037236, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + "placement": { + "size": [ + 0.01, + 0.01 + ], + 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b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f37c6d4050023afc7df5c8495006149f65df1cc --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,528 @@ +{ + "layout_id": 13, + "style_id": 30, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "dining_front_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.45, + 0.81 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], 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} + }, + "init_robot_base_pos": [ + 1.418925407741562, + -2.0485437100309216, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb10bb307931dad7c158619490c72de3335268e3 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 16, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "island_island_group", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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"bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.587381, + 1.266185 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + 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a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000027/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2277cc1368a997455838cdcf23f773f1459a9782 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 27, + "style_id": 17, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + 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0000000000000000000000000000000000000000..63436e5dde48531713e4198fd369838220601258 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 52, + "style_id": 22, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + 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0000000000000000000000000000000000000000..5a11acf6d22deab8233abcc73171a928810c1a01 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 30, + "style_id": 11, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_2_left_group", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + 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-3.2117416572543465, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000044/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f5390d2a485fcd5a39e2d840000c20b678a1507 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 54, + "style_id": 41, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + 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b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,567 @@ +{ + "layout_id": 22, + "style_id": 43, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + 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"wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + 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{ + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + 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b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d8562a3eb1a12da43372cb5cb5e063337ce5cd8 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,577 @@ +{ + "layout_id": 49, + "style_id": 19, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 0.6653919434549255, + 0.650178 + ], + "offset": [ + 0.7104625282725374, + -3.469446951953614e-17, + 0.460003 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_flat" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "cheese", + "obj_groups": "cheese", + "init_robot_here": true, + "placement": { + "ref_obj": "bread_container", + "fixture": "counter_1_right_group_1", + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + 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"cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + 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of bread to prepare a simple cheese on bread dish.", + "fixture_refs": { + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6776667664898486, + -5.531330437860857, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000062/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2031987be248af783e6535a121e3d20793277774 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 52, + "style_id": 52, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3408781654968585, + 0.65 + ], + "offset": [ + 0.4570609172515705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_flat" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "cheese", + "obj_groups": "cheese", + "init_robot_here": true, + "placement": { + "ref_obj": "bread_container", + "fixture": "counter_4_right_group_1", + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml" + }, + "reset_region": { + "size": [ + 1.3408781654968585, + 0.65 + ], + "offset": [ + 0.4570609172515705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube" + ], + "groups": [ + "all" + ], + "cat": "ice_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube002/model.xml" + }, + "reset_region": { + "size": [ + 1.3408781654968585, + 0.65 + ], + "offset": [ + 0.4570609172515705, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + 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"gen_textures": {}, + "lang": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.", + "fixture_refs": { + "counter": "counter_4_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000086/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..585c7946c672cf5203232c7ac9757ab875ccc211 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 21, + "style_id": 41, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + 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b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4abc9fc3cfdb2ccaa1e58299e7e1094b3f218918 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,597 @@ +{ + "layout_id": 20, + "style_id": 28, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + 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the slice of bread to prepare a simple cheese on bread dish.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"fixture": "counter_2_left_group", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_flat" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "cheese", + "obj_groups": "cheese", + "init_robot_here": true, + "placement": { + "ref_obj": "bread_container", + "fixture": "counter_2_left_group", + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": 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+ }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + 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wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.", + "fixture_refs": { + "counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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": [ + 2.501086292592341, + -2.3685586563714804, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000094/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..402108624ed8250456c61b3f7d0b79e0b23e890b --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 55, + "style_id": 38, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_flat" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + } + }, + { + "name": "cheese", + "obj_groups": "cheese", + "init_robot_here": true, + "placement": { + "ref_obj": "bread_container", + "fixture": "island_island_group_1", + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1.0, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "size": [ + 2.191411, + 1.16985 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + 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prepare a simple cheese on bread dish.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.357747697438416, + -2.3162873702228124, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712223637101589 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000099/ep_meta.json b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4c8a35bd99c22abb9f3e22c2edba27b634e0979 --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 60, + "style_id": 39, + "object_cfgs": [ + { + "name": "bread_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 0.5, + 0.7 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2041864019160475, + 0.650002 + ], + "offset": [ + 1.172975799041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "bread", + "obj_groups": "bread_flat", + "object_scale": 1.5, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "bread_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_flat" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + } + }, + { + "name": "cheese", + "obj_groups": "cheese", + "init_robot_here": true, + "placement": { + "ref_obj": "bread_container", + "fixture": "counter_1_left_group_1", + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2041864019160475, + 0.650002 + ], + "offset": [ + 1.172975799041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + 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--git a/pretrain/atomic/CheesyBread/20250714/lerobot/meta/embodiment.json b/pretrain/atomic/CheesyBread/20250714/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/atomic/CheesyBread/20250714/lerobot/meta/episodes.jsonl b/pretrain/atomic/CheesyBread/20250714/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68fe9c6ae786d7ee0c893f7f9357c3b20613f04c --- /dev/null +++ b/pretrain/atomic/CheesyBread/20250714/lerobot/meta/episodes.jsonl @@ -0,0 +1,101 @@ +{"episode_index": 0, "tasks": ["Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish."], "length": 283} +{"episode_index": 1, "tasks": ["Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish."], "length": 288} +{"episode_index": 2, "tasks": ["Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish."], "length": 419} +{"episode_index": 3, "tasks": ["Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish."], "length": 334} +{"episode_index": 4, "tasks": ["Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish."], "length": 254} +{"episode_index": 5, "tasks": ["Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish."], "length": 314} +{"episode_index": 6, "tasks": ["Pick up the wedge of cheese and place it on the slice of bread to prepare a 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4617689119942487, + -2.8746601145830994, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712205636499415 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000042/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c780ad11b4e05a3341b7de957a71c94fe72187a9 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 17, + "style_id": 33, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "cheese", + "bread", + "cake" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stand_mixer_main_group_1", + "loc": "left_right", + "min_size": [ + 0.06629695839999997, 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"cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + 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b/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..951ed192b6a04d9500c5051a396da423d8e45353 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 20, + "style_id": 51, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "cheese", + "bread", + "cake" + ], + "graspable": true, + "placement": { + "fixture": "counter_1_island_group_2", + "sample_region_kwargs": { + "ref": "stand_mixer_island_group_2", + "loc": "left_right", + "min_size": [ + 0.07994136590999999, + 0.09294125462999998, + 0.07433633519999999 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "bread", + "cake" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + }, + "reset_region": { + "size": [ + 2.26819416538144, + 0.65 + ], + "offset": [ + 0.16590291730928008, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": 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"mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.509868549502196, + -2.6234428110762686, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853981546551706 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000089/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b55d379d5403e35900395289ea161ddc3852cc81 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,366 @@ +{ + "layout_id": 41, + "style_id": 44, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "cheese", + "bread", + "cake" + ], + "graspable": true, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stand_mixer_island_group_2", + "loc": "left_right", + "min_size": [ + 0.10900347562694279, + 0.0921648817046346, + 0.059641815869999996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "bread", + "cake" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0648879831644318, + 1.299989 + ], + "offset": [ + -0.5151050084177842, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + 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{ + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + 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"SingleCabinet" + }, + "stand_mixer_island_group_2": { + "cls": "StandMixer" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the cheese in the stand mixer bowl.", + "fixture_refs": {}, + "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": { + 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