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b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4762d45ed567b5e4817266370a23797d1ad1c92e --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 31, + "style_id": 14, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_1_island_group_1_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "peeler", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 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--git a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000029/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a174a5fc326c65fda3cc3a0ee5299fef4e7d1b37 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 22, + "style_id": 45, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_1_dining_area_group_1_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "tongs", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000030/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15e4ed04f2a003a4113354748190e5b119893d46 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,498 @@ +{ + "layout_id": 23, + "style_id": 40, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_3_left_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000036/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfc9178390aa70f5d33613fd4959e19492a50f46 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 46, + "style_id": 25, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_08_front_group_1_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "reamer", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "reamer", + "split": "train", + "mjcf_path": 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file diff --git a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000039/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fceb6407a40ff3c19891f5b234fc99893087e7e7 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 44, + "style_id": 53, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_1_left_group_1_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "wooden_spoon", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..37701454f9bfaed84708432a4ecdd43bf582d3e6 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,562 @@ +{ + "layout_id": 35, + "style_id": 32, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_3_left_group_1_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8779999999999999, + 0.51 + ], + "height": 0.16, + 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"cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": 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0000000000000000000000000000000000000000..6be7eceff492b69250d0a6228dc0b74018aba0ed --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,532 @@ +{ + "layout_id": 51, + "style_id": 37, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_10_island_group_1_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.5779999999999998, + 0.51 + ], + "height": 0.16, 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+ 0.0, + 0.0, + 4.712205636499415 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000051/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b046a22892169bd0679c7f749884ccd98f4e09c --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,685 @@ +{ + "layout_id": 25, + "style_id": 11, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_2_main_group_4", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "wooden_spoon", + "split": "train", + 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a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000052/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46329747d728f794e474559a8ea103a59708412b --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 11, + "style_id": 36, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_1_main_group_4", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": 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"stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_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": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "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" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Close the right drawer.", + "fixture_refs": { + "drawer": "stack_5_left_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.28798255983013704, + -3.2621161454581533, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000067/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9cf6ceeed9d76826f5e5414d640e88a2cae189f --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 51, + "style_id": 26, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_08_right_group_1_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "whisk", + "utensil" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "whisk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 1.260805, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "stack_08_right_group_1_2", + "min_size": [ + 0.07540172788499998, + 0.19131297074999995, + 0.010328291737499998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "scissors", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "scissors", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_13/model.xml" + }, + "reset_region": { + "size": [ + 1.382788, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_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" + }, + 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"Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Close the left drawer.", + "fixture_refs": { + "drawer": "stack_08_right_group_1_2" + }, + "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": [ + 7.205332853268671, + -4.639124193650078, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000068/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c2a68f1702b3174810e8ba819412caa4f0a5d5b --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 29, + "style_id": 40, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_3_main_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + 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0000000000000000000000000000000000000000..57ebdc90056ba14b73db9de6e7fb769aa4d50d84 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 46, + "style_id": 54, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_04_front_group_1_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "wooden_spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.5895569999999999, + 0.5100009999999999 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "stack_04_front_group_1_2", + "min_size": [ + 0.28448646, + 0.11363478, + 0.05092187 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "ice_cube_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray001/model.xml" + }, + "reset_region": { + "size": [ + 0.7114319999999985, + 1.300035 + ], + "offset": [ + -1.7965000000000009, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": 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+ 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000096/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d89c2babc225a5ca08c28874a2b76c4ad60ad697 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 54, + "style_id": 40, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_03_main_group_1_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "pizza_cutter", + "split": 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a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000097/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5377a08206b4128c6cee3103f135c5a3217bfe2 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 47, + "style_id": 15, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_10_front_group_2_4", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "pizza_cutter", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..c7d2996ddd912a9855b6b39cf923ecfac062f213 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 21, + "style_id": 40, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_2_main_group_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.16, + 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+ }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Close the right drawer.", + "fixture_refs": { + "drawer": "stack_1_main_group_1_2" + }, + "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": [ + 1.3458232233997198, + -0.8343465137270156, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000106/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000106/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9cf88aeb89f92fa8461b1ab3066ba698eeec8326 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000106/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 47, + "style_id": 41, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_02_front_group_1_2", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "peeler", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 1.0632039999999998, + 0.5100100000000001 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_05_front_group_1", + "sample_region_kwargs": { + "ref": "stack_02_front_group_1_2", + "min_size": [ + 0.05664036450000001, + 0.05560247025000001, + 0.07553774250000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml" + }, + "reset_region": { + "size": [ + 1.185217, + 0.649981 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_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_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_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + 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"hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Close the right drawer.", + "fixture_refs": { + "drawer": "stack_02_front_group_1_2" + }, + "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": [ + 3.555616377803068, + -2.2705112449007703, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712248166391399 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000108/ep_meta.json b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000108/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24792d5c84c5f8c61bd2af81962e75f7719fb7b2 --- /dev/null +++ b/pretrain/atomic/CloseDrawer/20250819/lerobot/extras/episode_000108/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 54, + "style_id": 25, + "object_cfgs": [ + { + "name": "drawer_obj", + "obj_groups": [ + "tool", + "utensil" + ], + "graspable": true, + "max_size": [ + null, + null, + 0.1 + ], + "placement": { + "fixture": "stack_03_main_group_1_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -0.75 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "tool", + "utensil" + ], + "cat": "pizza_cutter", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.900296, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "stack_03_main_group_1_3", + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "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/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "size": [ + 1.022278999999999, + 0.65 + ], + "offset": [ + -4.440892098500626e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "stack_03_main_group_1_3", + "min_size": [ + 0.05881770738660883, + 0.08999999474454902, + 0.058182302091294484 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "size": [ + 1.022278999999999, + 0.65 + ], + "offset": [ + -4.440892098500626e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + 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--- /dev/null +++ b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 35, + "style_id": 59, + "object_cfgs": [], + "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" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + 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b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9e302a381e49181d6a7dabd6d31d26a5d9a925 --- /dev/null +++ b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 17, + "style_id": 58, + "object_cfgs": [], + "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" + }, + "window_group_room": { + "cls": "Window" + }, + "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": 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"middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "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_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + 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at end of file diff --git a/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000053/ep_meta.json b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d14cf9a6ee23b270fde1eee10d0634fa37ad1573 --- /dev/null +++ b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,343 @@ +{ + "layout_id": 48, + "style_id": 60, + "object_cfgs": [], + "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" + }, + 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"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": [ + 3.5012956714510466, + -0.8021695653119701, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000074/ep_meta.json b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad4e1aba629daa97db4411d50c190b65662c4bb --- /dev/null +++ b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,373 @@ +{ + "layout_id": 18, + "style_id": 54, + "object_cfgs": [], + "fixtures": { + "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_1_room": { + "cls": "Wall" + }, + "wall_left_1_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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + 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"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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_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": { + 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"cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the toaster oven door.", + "fixture_refs": { + "toaster_oven": "toaster_oven_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": [ + 2.4532957811498624, + -0.9607709526672797, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000084/ep_meta.json b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a824f6f88469b8954eae60a40d43577bce70219 --- /dev/null +++ b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 17, + "style_id": 26, + "object_cfgs": [], + "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" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + 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"mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8066626565181386, + -0.9780206007796103, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000086/ep_meta.json b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a134d725df93d91affa84d5a31865c243c000ea --- /dev/null +++ b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 24, + "style_id": 37, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "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" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + 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file diff --git a/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000102/ep_meta.json b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb736bb6f1b717b134adfd69b524e6723e016103 --- /dev/null +++ b/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,358 @@ +{ + "layout_id": 31, + "style_id": 58, + "object_cfgs": [], + "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_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + 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"style_id": 47, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.0276690681168925, + 0.03203989918077432, + 0.0003093627380145263 + ], + "size": [ + 0.03415711625890644, + 0.1568693796338495 + ], + "height": 0.16051036870713517, + "name": "slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_main_group_1", + 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b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8cd91413f2d268833d6ee44088d7179ac719101 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 24, + "style_id": 58, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread005/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02697190138105842, + 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}, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + 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0000000000000000000000000000000000000000..4aede733d149c2ab386655ce1bcb96a415cb814b --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,469 @@ +{ + "layout_id": 18, + "style_id": 52, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_right_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread003/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.08711094195350727, + 0.026195551560514924, + 0.01405091116974501 + ], + "size": [ + 0.028108625842913668, + 0.13378173115548228 + ], + "height": 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2.265727924815521, + -4.232488058924473, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000004/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66fec364e095ffa71a07ac89a156b8e87403e2be --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 35, + "style_id": 33, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread002/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.0926334581507931, + 0.008539621954371593, + 0.018106337728392374 + ], + "size": [ + 0.027405799017791915, + 0.1659737119287753 + ], + "height": 0.14364921440961895, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_main_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.8, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + 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new file mode 100644 index 0000000000000000000000000000000000000000..f31697130fb48a79bf7d3ef86087ffc358358493 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,469 @@ +{ + "layout_id": 18, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_right_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread003/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.08619308507311084, + 0.010346461414924884, + 0.031411456365336356 + ], + "size": [ + 0.029120064650007327, + 0.13892085183667188 + ], + "height": 0.15892523317752405, + "name": "sideR_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "toaster_right_group", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.8, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.5914289766007128, + 0.65 + ], + "offset": [ + 1.6542855116996433, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + 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} + }, + "init_robot_base_pos": [ + 2.2615671526899512, + -4.3638175883214965, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd080dd2ec0b98f76d628e1f81ffd8a6a617f6e3 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,598 @@ +{ + "layout_id": 39, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + 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a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53e6c8c5a20e87b1842efca45ae01933c8756769 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,412 @@ +{ + "layout_id": 14, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": 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newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000056/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3947f3eac52fc0435de47d30a81c65d7a41ad04 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,433 @@ +{ + "layout_id": 54, + "style_id": 53, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_right_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": 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--git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000057/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c99fc397f31287d76e3a282d71d2066680348c89 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,490 @@ +{ + "layout_id": 56, + "style_id": 22, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_right_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": 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"obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_left_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread005/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.08727769647418013, + 0.026195551560514924, + 0.01405091116974501 + ], + "size": [ + 0.028042827255477645, + 0.13378173115548228 + ], + "height": 0.1530460811957871, + "name": "sideR_slotR" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_left_group", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + 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"HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + 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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": [ + 0.18350429153258158, + -3.200011397832955, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000060/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..643a04e9556ee100b75ec2e1e6140c34876bb4e6 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,598 @@ +{ + "layout_id": 39, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.032727301035847534, + 0.010346461414924884, + 0.031411456365336356 + ], + "size": [ + 0.02920271597673807, + 0.13892085183667188 + ], + "height": 0.15892523317752405, + "name": "sideR_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_main_group_1", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "size": [ + 0.8, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0127375144561421, + 0.65 + ], + "offset": [ + -2.343631242771929, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_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_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": "Place the toasted item on a plate.", + "fixture_refs": { + "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": 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0000000000000000000000000000000000000000..fcd5cb2c8584d5e99f8086f8d9ec5be411b8b67c --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,433 @@ +{ + "layout_id": 54, + "style_id": 44, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_right_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread002/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.02207396418634377, + 0.013614845226398144, + 0.023306038626614966 + ], + "size": [ + 0.0261718897925923, + 0.17040922561384014 + ], + "height": 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"camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.88307918615949, + -1.363335396484863, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000065/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65989dd26e41f6512ab7aeb633239d84bef88724 --- /dev/null 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+ "gen_textures": {}, + "lang": "Place the toasted item on a plate.", + "fixture_refs": { + "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": [ + 4.638777016141427, + -0.7793093041960595, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4279a8ef9855cbd2414c55d8162824569b9e672 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 47, + "style_id": 60, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_front_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread004/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.019597112311201897, + 0.009582759712161458, + -0.002820979237151317 + ], + "size": [ + 0.030783153330287177, + 0.14794205761887674 + ], + "height": 0.1606948958411082, + "name": "slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_05_front_group_1", + "sample_region_kwargs": { + "ref": "toaster_front_group_1", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.8, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.4282445711765839, + 0.649981 + ], + "offset": [ + 0.37848621441170804, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_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_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_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + 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}, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the toasted item on a plate.", + "fixture_refs": { + "counter": "counter_05_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.394485259772522, + -2.3976745318416524, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712248166391399 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000069/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd56af0d85b4f0d96b73a9155204daa14a4dc39 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 29, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_left_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread002/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.08522629412365013, + 0.016035986585345934, + 0.03577420919813313 + ], + "size": [ + 0.02737596161159228, + 0.1847159837117307 + ], + "height": 0.14684262319615218, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "toaster_left_group", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.8, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5657728518586023, + 0.65 + ], + "offset": [ + 1.4671135740706984, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + 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-2.502507085080285, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.3435886114798734e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000076/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9b57e51a14c4cc0d45725e456421cda21252e0 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,619 @@ +{ + "layout_id": 25, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + 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newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000086/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fe30dcff966301fd44dc1be0926d36499a4267c --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,490 @@ +{ + "layout_id": 56, + "style_id": 51, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_right_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000088/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85ecca78c90dd63796dd302e6579fe2a9a160cf3 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,370 @@ +{ + "layout_id": 34, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_left_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + 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at end of file diff --git a/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000091/ep_meta.json b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d8ee2d3e4d8f57d1e460aeaddd41e38df64dca3 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 53, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_right_group_1", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": 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"in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread003/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.08690735388980506, + 0.017786946254595794, + 0.025659056983533664 + ], + "size": [ + 0.027408836224258673, + 0.20749472325070728 + ], + "height": 0.1636756743907378, + "name": "sideL_slotL" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_right_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.8, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + 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100644 index 0000000000000000000000000000000000000000..4ba264fb3667b7624ba9b0097b1c49c80f9924c2 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 22, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_left_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread002/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.03330066150105482, + 0.004664570422927075, + 0.021406157344851302 + ], + "size": [ + 0.027830181134540232, + 0.1543883845966198 + ], + 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0000000000000000000000000000000000000000..f796a21487d88c997bfd2ef64d8ec05822ec08a5 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 21, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": [ + "sandwich_bread" + ], + "rotate_upright": true, + "placement": { + "fixture": "toaster_main_group", + "rotation": [ + 0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "sandwich_bread" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread005/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.10659042667049176, + 0.010964798527758089, + 0.03880696172401637 + ], + "size": [ + 0.02593780745647646, + 0.1382460255224363 + ], + "height": 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