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\ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0b69718672ac8cde44ee82dffa4072d440c5c5b --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 46, + "style_id": 13, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b535c589aa5e4da142d55daa3e151763fc71385b --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 45, + "style_id": 46, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58fd6def37fe1b5b9e18ab81241b6bd15cb2d8a6 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,633 @@ +{ + "layout_id": 39, + "style_id": 24, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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}, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Retrieve a lemon from the fridge and place it on the cutting board with the fish.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.153631784661473, + -1.1490949788069853, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7d27dd6490cbd90605feec25cbccff927c720c1 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,417 @@ +{ + "layout_id": 52, + "style_id": 19, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.029145152982939876, + 0.08653084690922787, + 0.5007559583214952 + ], + "size": [ + 0.6321433579462283, + 0.5602185491801261 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "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" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b1312168d5ae35cc271d8f86cfa8356375cacf2 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 48, + "style_id": 33, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_3_right_group_1", + "size": [ + 1, + 0.5 + ], + "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" + }, + "reset_region": { + "size": [ + 1.2969179588788466, + 0.650012 + ], + "offset": [ + -0.9901610205605766, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": 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"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": [ + 3.464102700358643, + -4.5094051223665215, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..454477470fcc4d5b54bb7749cf2ded491f0a658a --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,498 @@ +{ + "layout_id": 51, + "style_id": 55, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, 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"fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b0208a84f1f12c3c5fd30351733c1f05d04d49e --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 34, + "style_id": 23, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc794bd1ec22c28355a447df20e9742d18a40f29 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 13, + "style_id": 45, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_1_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f02da976cb27ee38f6dee773363cc3134ae2933b --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,546 @@ +{ + "layout_id": 49, + "style_id": 51, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..5dd16616834e21f28c48254bbdb9677ed02e30d4 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 15, + "style_id": 35, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008234956404977734, + 0.07766792230766895, + 0.5521509931839137 + ], + "size": [ + 0.6516963579397972, + 0.5048786873635636 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "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": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + 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with the fish.", + "fixture_refs": { + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3737257587528238, + -0.6316444962357357, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..159d0f536a0878146da7fa68a368294fee9f4461 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 54, + "style_id": 19, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4dea8dfc450fd8dac5c4542a3f38517e04afd31a --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 45, + "style_id": 54, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": 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--git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ea141e26c36654686c958275ea981a2aabf0f63 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,414 @@ +{ + "layout_id": 55, + "style_id": 32, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.02514062265461986, + 0.16113134518944008 + ], + "size": [ + 0.6530752307339575, + 0.5529684092215468 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "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": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } 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fridge and place it on the cutting board with the fish.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.5 + ], + 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0000000000000000000000000000000000000000..330eacefbd2ed16d5c96837cf351b6e406001ac6 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 53, + "style_id": 44, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + }, + "reset_region": { + "offset": [ + 8.655422505740584e-05, + 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"on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + 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cutting board with the fish.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_3_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, + 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"lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0023510818949818435, + 0.03512962808270291, + 0.5351874608206458 + ], + "size": [ + 0.7476501390177902, + 0.4391879139196688 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0, + -1.0 + ], + 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0000000000000000000000000000000000000000..7fcacd24edea0953eba29f7389bc3622ed71a46d --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 59, + "style_id": 35, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004448710707134762, + 0.07787020008084633, 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f540480bb909caa6a6b0f4021bf36e9fa7f3074 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 46, + "style_id": 47, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad9fb41f409171f8ab51b9b1f646765267f759ef --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,519 @@ +{ + "layout_id": 23, + "style_id": 41, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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+ }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2103080315840715, + -1.1328578547817596, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db6daf9d167a8c28174774baeff231d242fd7445 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 19, + "style_id": 60, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_1_main_group_3", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f340045644b8c15cef2b6fd9ff27191ae31279a8 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 26, + "style_id": 49, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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"lang": "Retrieve a lemon from the fridge and place it on the cutting board with the fish.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.682975050333165, + -1.1586430655524158, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba976cdf0416ca83d266d32d58baceb4c69eaf88 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 27, + "style_id": 14, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 0.09629363461662806, + 0.4836705326351267 + ], + "size": [ + 0.6444220231328888, + 0.5397255973144831 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "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": [ + 1.748, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "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" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "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": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Retrieve a lemon from the fridge and place it on the cutting board with the fish.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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": [ + 1.1109519572803577, + -2.89486166014994, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca2aaefa3df9f5c5d92b5d983d5c29785ccc9db4 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 60, + "style_id": 30, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_6_right_group_1", + "size": [ + 1, + 0.5 + ], + "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" + }, + "reset_region": { + "size": [ + 1.007743, + 0.650004 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + 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of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45fee581ecd592736b5ea2268f831d59ac42a923 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 41, + "style_id": 50, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0431dd74817a706f08acc707abac54043520e819 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 28, + "style_id": 12, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ec6acfef0c95d21a2822fbceedbad9322d5ef64 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 41, + "style_id": 41, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f375afd6eaa5d961b1bbe37363864e3844e85cf --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 34, + "style_id": 53, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "dining_dining_area_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0, + -1.0 + ], + "try_to_place_in": "cutting_board" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cd9f4cb49401237817c14fcb0b453330fb1e1d8 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 29, + "style_id": 39, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e840368dd39e11ed18176cb839afe4d5b692492 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 30, + "style_id": 16, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + 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+ "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + -2.6586820515900333e-05, + 0.10409374431739249, + 0.5643293549489325 + ], + "size": [ + 0.7212686568920668, + 0.5997809591920978 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "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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100644 index 0000000000000000000000000000000000000000..adf312b5930a4400446c25081d173ef10311ba89 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 33, + "style_id": 57, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 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"on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + 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0000000000000000000000000000000000000000..8065b725ddac10ac4c64dae1f3fae039836cfade --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 60, + "style_id": 15, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 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lemon from the fridge and place it on the cutting board with the fish.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "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": [ + 0.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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"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": [ + 0.3671190442102299, + -1.1450848630517745, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1620e2c32a778d9d21977476d23eb7a241a037b --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 43, + "style_id": 40, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa3a2d9368e9eb17d5707e6785e1a7c1440d44c6 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 31, + "style_id": 31, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..335dba7c64444febc59ac539e6e829100619af29 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,633 @@ +{ + "layout_id": 39, + "style_id": 37, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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"lang": "Retrieve a lemon from the fridge and place it on the cutting board with the fish.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.007250521073909222, + 0.10239752905002794, + 0.4638850014844329 + ], + "size": [ + 0.7198720948627082, + 0.5132593568259458 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "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": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + 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@@ -0,0 +1,534 @@ +{ + "layout_id": 22, + "style_id": 14, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008234956404977734, + 0.07766792230766895, + 0.5616164387813524 + ], + "size": [ + 0.6516963579397972, + 0.5048786873635636 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "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": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": 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1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bcb3f00a35080ca180043c803f0807b04c8f8329 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,633 @@ +{ + "layout_id": 39, + "style_id": 49, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + 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+ "offset": [ + -1.48225, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + 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"parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.2071295488102995, + -1.1575220872079577, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de31601d407430b7da402f7dc212d9a40dbc80fc --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 59, + "style_id": 52, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "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": [ + 0.7540695827484295, + 1.075989 + ], + "offset": [ + -0.8240957086257854, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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0000000000000000000000000000000000000000..5a10495f875045f2aeaea10157808635c761eaf9 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 50, + "style_id": 38, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0052349841855155455, + 0.11655942239977306, + 0.2849389558713168 + ], + "size": [ + 0.7938666948674687, + 0.5688932833938807 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_2_left_group_1", + "size": [ + 1, + 0.5 + ], + "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": [ + 1.304953, + 0.66078 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + } + ], + "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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + 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0000000000000000000000000000000000000000..3ef8e84dab6910f99f1db491ca120f0cde3ecbf8 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,498 @@ +{ + "layout_id": 51, + "style_id": 12, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 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"parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.322535673314751, + -1.150011788152159, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9435eaec44b94cef7ef71db6bfb7c9e8c9e1b213 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 18, + "style_id": 16, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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"cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4409932aabd0c47d845b64dc05b6b358977fa46 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 31, + "style_id": 22, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..09df43b99dd43efc32018907de7ea7cec911bd87 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 53, + "style_id": 35, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004448710707134762, + 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file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0beb5f0e3201670e6c5ed4060fea8a9fd0e5be3e --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,429 @@ +{ + "layout_id": 44, + "style_id": 17, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" 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--- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 16, + "style_id": 34, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + 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"type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 0.005177244354625632, + 0.23759933738123099 + ], + "size": [ + 0.3366677557353311, + 0.37611027746536396 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "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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+} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..171ac6a72490432530ba59fcd4215fd89464c8c3 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 26, + "style_id": 25, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + 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"name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + 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"Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Retrieve a lemon from the fridge and place it on the cutting board with the fish.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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@@ -0,0 +1,564 @@ +{ + "layout_id": 20, + "style_id": 48, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_1_front_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061569973499999986, + 0.07362725399999998, + 0.06187700774999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + 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0000000000000000000000000000000000000000..269e1193aeac09d6b67d809184f1352834a9e6f9 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 33, + "style_id": 37, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 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0000000000000000000000000000000000000000..a5139d1021aabc2b03dd9057b10a51a6a81aed99 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,429 @@ +{ + "layout_id": 44, + "style_id": 54, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1d339544fdcc1005e367469392fd69fe878dc1 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 19, + "style_id": 22, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_1_main_group_3", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + 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"lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_left_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.012175481466790039, + 0.08437463521775693, + 0.5020282351756232 + ], + "size": [ + 0.6158223224281404, + 0.5480441801831577 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0, + -1.0 + 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] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15ce936eae6701af84dabd3ccb1f2d52d72deee6 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,429 @@ +{ + "layout_id": 44, + "style_id": 30, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" 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--- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 43, + "style_id": 31, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05845046241726904, + 0.08417977058031648, + 0.0589844255448955 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + 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0000000000000000000000000000000000000000..8c2c534c365461aa94c4d42219ea4d85d8e8b3f5 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 43, + "style_id": 11, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.905989216079591, + -2.0789381494412478, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46acab2a97a166e9f0d7425f86da5fd33a3c8537 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 53, + "style_id": 11, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 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"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": [ + 0.600007, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae43e33e815c762a37ac83e2cb9f590d95761598 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,414 @@ +{ + "layout_id": 55, + "style_id": 40, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": 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"lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.01275392747146814, + -0.009593834171720772, + 0.49524499751444345 + ], + "size": [ + 0.6530752307339575, + 0.5218748322557486 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0, + -1.0 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"/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" 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0000000000000000000000000000000000000000..a5d1ff81ead1f2aba345b376d94eefb225dc5d82 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 16, + "style_id": 29, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 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b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 28, + "style_id": 19, + "object_cfgs": [ + { + "name": "lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06352836199999999, + 0.09491504339999998, + 0.05532682864999999 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + -0.029145152982939876, + 0.08653084690922787, + 0.5007559583214952 + ], + "size": [ + 0.6321433579462283, + 0.5602185491801261 + ], + "name": "fridge_shelf1" 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"lemon", + "obj_groups": "lemon", + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 0.15, + 0.1 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "lemon" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fish_container", + "obj_groups": "cutting_board", + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "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": [ + 0.9409179227484296, + 0.650008 + ], + "offset": [ + -0.8389550386257854, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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"fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + 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"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": [ + 2.0491316980517524, + 0.65 + ], + "offset": [ + 1.8254341509741239, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "fish", + "obj_groups": "fish", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "fish_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": 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{ + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, 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}, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Retrieve a lemon from the fridge and place it on the cutting board with the fish.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + 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a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/meta/embodiment.json b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/LemonSeasoningFish/20250731/lerobot/meta/episodes.jsonl b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28354afeddf6b3947f10865a303b5f9fa22b0ba1 --- /dev/null +++ b/pretrain/composite/LemonSeasoningFish/20250731/lerobot/meta/episodes.jsonl @@ -0,0 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a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce1bbb1740be9ee1463b21f2f42700d2cd8fbcb --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 53, + "style_id": 41, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.06875460339999998, + 0.05939274739999998, + 0.057136181899999985 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + 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] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "fixture": "fridge_1_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "fixture": "fridge_1_left_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": 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+ "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": [ + 1.158348277295902, + -3.6150089601792073, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a1b1df995b4ce3ceffc3b1aac5ea986059cd012 --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,537 @@ +{ + "layout_id": 28, + "style_id": 49, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.06870559919999997, + 0.06802645079999997, + 0.06348796859999997 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.004815522395063804, + 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+ } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0027418945876149237, + 0.168489961561064, + 0.164205696640251 + ], + "size": [ + 0.7408431329333823, + 0.31908152137262646 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + 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0000000000000000000000000000000000000000..a0dcee29d2775c1f78b92d9ea3bc92a924476433 --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 11, + "style_id": 39, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.06839594549999997, + 0.06514787849999996, + 0.07482789599999996 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 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b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 18, + "style_id": 58, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.063, + 0.063, + 0.0395256393 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "vegetable", + 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"stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the fridge, remove the tangerine, carrot, and chicken drumstick, and place them on any counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.125816574615624, + -1.1592170208690138, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37c6965ea6d7674f702de4912174410e124fa5f3 --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 53, + "style_id": 13, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": 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"stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Open the fridge, remove the kiwi, sweet potato, and fish, and place them on any counter.", + "fixture_refs": { + 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b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd64825f1bdfa6ce1ef063a09326a3ec54a6145 --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 18, + "style_id": 55, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.06875434881227208, + 0.10047349900000001, + 0.06839816487910581 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": 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{ + "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": [ + 1.1470800231284597, + -1.2950417857329783, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000064/ep_meta.json 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a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6521c6b85d802d7ad688f3a1536ae0f6061759e4 --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 52, + "style_id": 34, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1718494778133846, + -2.111060718118086, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4b902ebd528d00ea993e4579b9a4e668c22b08d --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 34, + "style_id": 51, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + -0.012682907158096224, + 0.505769123577888 + ], + "size": [ + 0.7365684093897912, + 0.415740817181933 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + } + }, + "type": "object", + "info": { + 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+} \ No newline at end of file diff --git a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3b0be31d849e88fc07a6a888ecb1e67b02fc679 --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 14, + "style_id": 39, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" 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a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0c1ebae2c2e288a72e8bbeb7be10a66bfa2b6f4 --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 59, + "style_id": 38, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + 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a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32ca204e8a8ccbfa717aef5dfcbd332899600e3a --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 44, + "style_id": 26, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.063, + 0.063, + 0.0395256393 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c69b5b440803967494594ece5925c702332e0b46 --- /dev/null +++ b/pretrain/composite/PrepFridgeForCleaning/20250805/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 11, + "style_id": 57, + "object_cfgs": [ + { + "name": "fruit", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1, + 1.5 + ], + "min_size": [ + 0.11513056808493138, + 0.1660108392686683, + 0.03863352575523014 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + 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steak, and place them on any counter.", + "fixture_refs": { + "fridge": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + 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place them on any counter."} +{"task_index": 33, "task": "Open the fridge, remove the tangerine, carrot, and fish, and place them on any counter."} +{"task_index": 34, "task": "Open the fridge, remove the banana, squash, and chicken drumstick, and place them on any counter."} +{"task_index": 35, "task": "Open the fridge, remove the orange, potato, and steak, and place them on any counter."} +{"task_index": 36, "task": "Open the fridge, remove the pear, mushroom, and fish, and place them on any counter."} +{"task_index": 37, "task": "Open the fridge, remove the orange, squash, and chicken drumstick, and place them on any counter."} +{"task_index": 38, "task": "Open the fridge, remove the apple, squash, and steak, and place them on any counter."} +{"task_index": 39, "task": "Open the fridge, remove the pear, carrot, and chicken drumstick, and place them on any counter."} +{"task_index": 40, "task": "Open the fridge, remove the peach, squash, and steak, and place them on any counter."} +{"task_index": 41, "task": "Open the fridge, remove the kiwi, tomato, and steak, and place them on any counter."} +{"task_index": 42, "task": "Open the fridge, remove the orange, corn, and chicken drumstick, and place them on any counter."} +{"task_index": 43, "task": "Open the fridge, remove the kiwi, onion, and fish, and place them on any counter."} +{"task_index": 44, "task": "Open the fridge, remove the tangerine, carrot, and chicken drumstick, and place them on any counter."} +{"task_index": 45, "task": "Open the fridge, remove the kiwi, sweet potato, and fish, and place them on any counter."} +{"task_index": 46, "task": "Open the fridge, remove the peach, squash, and shrimp, and place them on any counter."} +{"task_index": 47, "task": "Open the fridge, remove the mango, bell pepper, and steak, and place them on any counter."} +{"task_index": 48, "task": "Open the fridge, remove the apple, tomato, and steak, and place them on any counter."} +{"task_index": 49, "task": "Open the fridge, remove the kiwi, sweet potato, and chicken drumstick, and place them on any counter."} +{"task_index": 50, "task": "Open the fridge, remove the banana, broccoli, and steak, and place them on any counter."} +{"task_index": 51, "task": "Open the fridge, remove the pear, tomato, and chicken drumstick, and place them on any counter."} +{"task_index": 52, "task": "Open the fridge, remove the banana, mushroom, and steak, and place them on any counter."} +{"task_index": 53, "task": "Open the fridge, remove the apple, lemon, and steak, and place them on any counter."} +{"task_index": 54, "task": "Open the fridge, remove the banana, garlic, and shrimp, and place them on any counter."} +{"task_index": 55, "task": "Open the fridge, remove the banana, lemon wedge, and fish, and place them on any counter."} +{"task_index": 56, "task": "Open the fridge, remove the pear, carrot, and fish, and place them on any counter."} +{"task_index": 57, "task": "Open the fridge, remove the apple, lemon wedge, and chicken drumstick, and place them on any counter."} +{"task_index": 58, "task": "Open the fridge, remove the kiwi, onion, and shrimp, and place them on any counter."} +{"task_index": 59, "task": "Open the fridge, remove the peach, eggplant, and shrimp, and place them on any counter."} +{"task_index": 60, "task": "Open the fridge, remove the tangerine, potato, and fish, and place them on any counter."} +{"task_index": 61, "task": "Open the fridge, remove the apple, lime, and fish, and place them on any counter."} +{"task_index": 62, "task": "Open the fridge, remove the kiwi, carrot, and steak, and place them on any counter."} +{"task_index": 63, "task": "Open the fridge, remove the apple, cucumber, and chicken drumstick, and place them on any counter."} +{"task_index": 64, "task": "Open the fridge, remove the pear, eggplant, and steak, and place them on any counter."} +{"task_index": 65, "task": "Open the fridge, remove the banana, cucumber, and shrimp, and place them on any counter."} +{"task_index": 66, "task": "Open the fridge, remove the peach, avocado, and fish, and place them on any counter."} +{"task_index": 67, "task": "Open the fridge, remove the mango, broccoli, and chicken drumstick, and place them on any counter."} +{"task_index": 68, "task": "Open the fridge, remove the tangerine, avocado, and shrimp, and place them on any counter."} +{"task_index": 69, "task": "Open the fridge, remove the mango, onion, and fish, and place them on any counter."} +{"task_index": 70, "task": "Open the fridge, remove the tangerine, onion, and fish, and place them on any counter."} +{"task_index": 71, "task": "Open the fridge, remove the mango, lime, and steak, and place them on any counter."} +{"task_index": 72, "task": "Open the fridge, remove the peach, onion, and fish, and place them on any counter."} +{"task_index": 73, "task": "Open the fridge, remove the tangerine, eggplant, and steak, and place them on any counter."} +{"task_index": 74, "task": "Open the fridge, remove the kiwi, cucumber, and fish, and place them on any counter."} +{"task_index": 75, "task": "Open the fridge, remove the banana, lemon, and fish, and place them on any counter."} +{"task_index": 76, "task": "Open the fridge, remove the kiwi, cucumber, and chicken drumstick, and place them on any counter."} +{"task_index": 77, "task": "Open the fridge, remove the pear, bell pepper, and fish, and place them on any counter."} +{"task_index": 78, "task": "Open the fridge, remove the mango, potato, and fish, and place them on any counter."} +{"task_index": 79, "task": "Open the fridge, remove the mango, mushroom, and steak, and place them on any counter."} +{"task_index": 80, "task": "Open the fridge, remove the apple, lime, and steak, and place them on any counter."} +{"task_index": 81, "task": "Open the fridge, remove the apple, garlic, and steak, and place them on any counter."} +{"task_index": 82, "task": "Open the fridge, remove the banana, squash, and shrimp, and place them on any counter."} +{"task_index": 83, "task": "Open the fridge, remove the banana, broccoli, and chicken drumstick, and place them on any counter."} +{"task_index": 84, "task": "Open the fridge, remove the pear, bell pepper, and shrimp, and place them on any counter."} +{"task_index": 85, "task": "Open the fridge, remove the tangerine, sweet potato, and fish, and place them on any counter."} +{"task_index": 86, "task": "Open the fridge, remove the kiwi, squash, and steak, and place them on any counter."} +{"task_index": 87, "task": "PrepFridgeForCleaning"}