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b/pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000109/ep_meta.json @@ -0,0 +1,400 @@ +{ + "layout_id": 19, + "style_id": 14, + "object_cfgs": [ + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "dishwasher_1_right_group_1", + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "size": [ + 1.944000356247205, + 0.65 + ], + "offset": [ + 0.013999821876397478, + 0.0, + 0.46 + ], + "name": 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[ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000012/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f05abc3eddaa18549e18f8caa360fb606dbf3a02 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 17, + "style_id": 45, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + 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-0.8048895289409578, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000014/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77aeff763797b11d06752c5616a2e8e7308f3e11 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 28, + "style_id": 26, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml" + }, + "reset_region": { + "offset": [ + 0.2600525637192651, + -0.08356082315944455, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0949378736092465, + -1.7342661703577813, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000015/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a7ede284c6cc735d26f34a462f2e3e4bc7b5fb4 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,423 @@ +{ + "layout_id": 55, + "style_id": 39, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml" + }, + "reset_region": { + "offset": [ + 0.18988406409958983, + 0.1853399893304247, + 0.45384259347784334 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "stove_main_group_1", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "cookable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "food" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": 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b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..454a53e1588fcae09d359813f6b36453cc452ae9 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 23, + "style_id": 34, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml" + }, 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1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.23811360622935657, + 0.206514155286064, + 0.45664184230975824 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "widestove_main_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed0d57e9a9a3bf2b728009c77e384f1060f4149 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 24, + "style_id": 14, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + 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0000000000000000000000000000000000000000..253709101fc4ebd07b687c02e0f08e24335acfaf --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,500 @@ +{ + "layout_id": 33, + "style_id": 60, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2377952079482478, + -0.11952500198612931, + 0.45664184230975824 + ], + 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100644 index 0000000000000000000000000000000000000000..9dcc9b98cede36b64bc8ffb517590c32be6b8e4a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 11, + "style_id": 14, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_1_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "offset": [ + 0.1800034429929901, + 0.1543295574593578, + 0.4390424604150111 + ], + 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"lang": "Pick the carrot from the plate and place it in the pan.", + "fixture_refs": { + "stove": "stove_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, + 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"obj_groups": "pan", + "placement": { + "fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.18491186256157666, + 0.14018190997303742, + 0.3066376428402726 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stove_island_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 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31, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml" + }, + "reset_region": { + "offset": [ + 0.29071982210272057, + -0.09266853653891137, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "widestove_main_group_1", + "min_size": 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a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000043/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6968a6b0a45bd495bf8d1a731ca10553826d096a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 42, + "style_id": 28, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": 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b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3364d252b8826ca8ccfdc4eeadecf01a9db0c0cf --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 41, + "style_id": 12, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + 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a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000048/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..920c225f83ff0bb2f9a76286f19109aea34ac0bf --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 43, + "style_id": 24, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + 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"placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.2615436685988224, + -0.11666883610262072, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "widestove_main_group_1", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + 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"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" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + 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@@ +{ + "layout_id": 45, + "style_id": 46, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.1771732251544224, + -0.09850295834721257, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": 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"groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_1/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" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + 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of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000062/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..753a45896819c40f99cd5d4c2e4e8c695b761101 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 19, + "style_id": 47, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_3", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + 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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": [ + 3.0714094289076352, + -0.8725684837646976, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000063/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b99609c6935391bfc919803c1296b243847ffd7 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,662 @@ +{ + "layout_id": 25, + "style_id": 46, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.29448728599192897, + 0.2146981632324575, + 0.45524094270582643 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "obj_container", + "obj_groups": 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+ "lang": "Pick the sweet potato from the plate and place it in the pan.", + "fixture_refs": { + "stove": "stove_main_group", + "counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7458386410092266, + -0.8929244970061041, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000064/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..56430cb627d653b79b6881fe20b28e60b1e7291a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,490 @@ +{ + "layout_id": 21, + "style_id": 40, + "object_cfgs": [ + { + 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3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000074/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1816b0ab4b99e984ae279b625158d9b1f6ad5e52 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 58, + "style_id": 20, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + 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+++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 57, + "style_id": 42, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.1340235283776802, + 0.19094825648403774, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "obj_container", + 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place it in the pan.", + "fixture_refs": { + "stove": "stove_island_group_1", + "counter": "island_2_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"placement": { + "fixture": "widestove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml" + }, + "reset_region": { + "offset": [ + -0.28911358575882123, + -0.09280529924552389, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "widestove_right_group_1", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "cookable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + 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0000000000000000000000000000000000000000..6c3781fc4fbf916101622e7ee33621045215103a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 45, + "style_id": 44, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.17202120747611915, + -0.09538413197584153, + 0.45199089660907493 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stove_right_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "cookable": true, + "placement": { + "size": [ + 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a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000090/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e87e4834ba36960a964f386d671a95f29f369b45 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 42, + "style_id": 17, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": 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"obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.19429186732020443, + 0.17967370885342657, + 0.45384265819829256 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stove_main_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 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"food" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_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_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + 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{ + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + 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place it in the pan.", + "fixture_refs": { + "stove": "stove_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": [ + 1.6976426776364302, + -0.8245347533868523, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000096/ep_meta.json b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd09e3c6d1bbf7e1e9242bcfd3f0683998c05448 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,509 @@ +{ + "layout_id": 28, + "style_id": 55, + "object_cfgs": [ + { + "name": "container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.2318229089634729, + 0.13900181342313603, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + 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"oven_ready" + ], + "groups": [ + "food" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_4/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_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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"obj_groups": "pan", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.17202120747611915, + -0.09538413197584153, + 0.45199089660907493 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stove_right_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 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"hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/meta/episodes.jsonl b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f1de632d1df14a695cf073619492ceba2588e79 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/meta/episodes.jsonl @@ -0,0 +1,108 @@ +{"episode_index": 0, "tasks": ["Pick the onion from the plate and place it in the pan."], "length": 252} +{"episode_index": 1, "tasks": ["Pick the carrot from the plate and place it in the pan."], "length": 200} +{"episode_index": 2, "tasks": ["Pick the eggplant from the plate and place it in the pan."], "length": 209} +{"episode_index": 3, "tasks": ["Pick the broccoli from the plate and place it in the pan."], "length": 202} +{"episode_index": 4, "tasks": ["Pick the cream cheese stick from 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b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b86f5cad0af06a9fb3ced227bfadc6d28be322d --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/meta/tasks.jsonl @@ -0,0 +1,28 @@ +{"task_index": 0, "task": "Pick the onion from the plate and place it in the pan."} +{"task_index": 1, "task": "Pick the carrot from the plate and place it in the pan."} +{"task_index": 2, "task": "Pick the eggplant from the plate and place it in the pan."} +{"task_index": 3, "task": "Pick the broccoli from the plate and place it in the pan."} +{"task_index": 4, "task": "Pick the cream cheese stick from the plate and place it in the pan."} +{"task_index": 5, "task": "Pick the corn from the plate and place it in the pan."} +{"task_index": 6, "task": "Pick the egg from the plate and place it in the pan."} +{"task_index": 7, "task": "Pick the bell pepper from the plate and place it in the pan."} 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