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b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..005ba73337c92ddae1379728851358dda0cf44cc --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 53, + "style_id": 15, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.072704732, + 0.09999866199999999, + 0.07166651999999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": 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"camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.173645874437447, + -1.2324276231414257, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000008/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe47dc87fe942b4f01690e8a91d5e1a53f6f464 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,478 @@ +{ + "layout_id": 50, + "style_id": 26, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0022655663683286698, + 0.010857582591533216, + -0.11495800748760356 + ], + "size": [ + 0.530276883110897, + 0.38660649279685244 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": 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a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000011/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b1e89b7217ea94ce5b081bf84b0a967b0937a8e --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 13, + "style_id": 42, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.063, + 0.063, + 0.0395256393 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + 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b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 49, + "style_id": 22, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.0587092272, + 0.12123810348934207, + 0.06071863479918593 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.012919658098905995, + 0.11229077411789155, + 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"obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.006053406089925717, + 0.021247672538611345, + -0.2003477964484457 + ], + "size": [ + 0.5697028337037332, + 0.5795243757452073 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": 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+ "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": [ + 4.780773551081228, + -4.215233770281496, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000016/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e7c2844a9ad513b77812531ac75d4081c388d3c --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 60, + "style_id": 26, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + 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--git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000017/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..663266bd19729b34f891e87ce6b32a4f7ba7d955 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,615 @@ +{ + "layout_id": 39, + "style_id": 55, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", 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0000000000000000000000000000000000000000..b1528a21b0e016525b63943a0b9c2d66fecbcfae --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 45, + "style_id": 19, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": 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b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b0e467a0a4b25a668c6c407e5d6cc66c28f569 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 50, + "style_id": 42, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.09125576459999997, + 0.13087082709999995, + 0.08323684719999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + 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+{ + "layout_id": 56, + "style_id": 18, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.01934, + 0.088424, + 0.042176 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0028760255035781973, + 0.09392045177513544, + -0.01868097510957188 + ], + "size": [ + 0.44199890280699206, + 0.4967394550298487 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.07046005749999999, + 0.0700773381, + 0.0562027508 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "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_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008234956404977734, + 0.07766792230766895, + 0.5616164387813524 + ], + "size": [ + 0.6516963579397972, + 0.5048786873635636 + ], + "name": "fridge_shelf1" + } + } + ], + "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" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { 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b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..acd0574a81a606660c6ac613d67a9282040aab23 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,469 @@ +{ + "layout_id": 27, + "style_id": 20, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": 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a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000024/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..862effcf21d254c15016e3d389dc7ac226bc60d1 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 53, + "style_id": 50, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07178446439999997, + 0.08999831519999996, + 0.07067550959999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + 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a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000032/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91a9ecb820dce9836b4a63fb7b0c7334dddfcae1 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 43, + "style_id": 52, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07273767599999997, + 0.09999999999999996, + 0.07202737999999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + 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"init_robot_base_pos": [ + 4.920128928445782, + -2.2248564939009396, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000033/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e53ae34b481f152458d6ec69f08f0fd3cd50efa0 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 30, + "style_id": 36, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0018376430584517989, + 0.06773305527909618, + -0.038683643223791794 + ], + "size": [ + 0.6365658297842661, + 0.4105081330468964 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.065099525, + 0.0650351, + 0.186543775 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + 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"cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Fully open the fridge drawer.", + "fixture_refs": { + "fridge": "fridge_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + 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\ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000034/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f1a9527b2103714a0f9ec1b41b10ecf8208a9b6 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,511 @@ +{ + "layout_id": 35, + "style_id": 29, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.00011821911312942524, + 0.06749573964801626, + 0.19216007184764555 + ], + "size": [ + 0.7711952059269747, + 0.5150505212666887 + ], + "name": "fridge_shelf0" + } + } + ], + "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": 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[ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000037/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ab9376262ed427d3c8408a70873b497dc696512 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 58, + "style_id": 54, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06147772049999999, + 0.08868493147499999, + 0.0641568332475 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.009340993154627067, + 0.05002843197901598, + 0.0004448260174556663 + ], + "size": [ + 0.4186631666708429, + 0.35783601730324466 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.06682693640000001, + 0.064554252, + 0.07075163200000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + 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"parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1374628771659587, + -1.9136816049082161, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000038/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8d1456e5e179a0823d739b357a3eb9ef3aaf89f --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 46, + "style_id": 55, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06275226709999998, + 0.09499999999999997, + 0.07340883889999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_18/model.xml" + }, + "reset_region": { + "offset": [ + 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], + "name": "fridge_shelf0" + } + } + ], + "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_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": 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+ 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2807257537676717, + -1.2467334014824432, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000039/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a99c80ef8775dfc7525f8ff48a3be2705cab899e --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 60, + "style_id": 33, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.00018728385543431703, + 0.055517569389821, + -0.0903805152316607 + ], + "size": [ + 0.6324744517472726, + 0.5427792581706978 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.058148404649999964, + 0.058148404649999964, + 0.08618023970999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0002539206301782615, + 0.10409374431739249, + 0.18235175118634792 + ], + "size": [ + 0.7236589942103524, + 0.5997809591920978 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": 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{ + "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": [ + 3.6069662822276727, + -2.121582224447985, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.714033083301871e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000040/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..335b35f015c63591399a3d799257e0b561cd634e --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 29, + "style_id": 45, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.014456, + 0.041804, + 0.02032 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + }, + "reset_region": { + "offset": [ + -0.1709772933568335, + 0.003762385315224326, + 0.19047760911872336 + ], + "size": [ + 0.37189868724102987, + 0.5293211484543229 + ], + "name": "fridge_drawer4" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.07234602885, + 0.07862287275, + 0.20249999595 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + } + ], + "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" + }, + "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" + }, + 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b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f129fd0683dc8d4d1b11b530b5db05cf106538ca --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 33, + "style_id": 43, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06023034399999999, + 0.07896237119999999, + 0.05580761359999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + 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], + "name": "fridge_shelf0" + } + } + ], + "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" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + 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of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000044/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7f14345b7c4e8860266ef4c9edb7276ad749d2e --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 16, + "style_id": 34, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06387232930000003, + 0.06089007860000002, + 0.05594997655000003 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000046/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..273f545f9da2aa127786a891fa9e6b040dc5b68f --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 42, + "style_id": 45, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + 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b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 28, + "style_id": 53, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.005791279486290768, + 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b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,545 @@ +{ + "layout_id": 20, + "style_id": 39, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_front_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07374335400000002, + 0.07500000000000002, + 0.05981161200000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.009340993154627067, + 0.05002843197901598, 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0000000000000000000000000000000000000000..513b4bba5a1e4d6c401ff94d86f26dd11137591b --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 27, + "style_id": 57, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "corn", + "split": "train", + "mjcf_path": 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file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000059/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e21002d4e69ca3bc73af545cd2e278992bcdd9 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,398 @@ +{ + "layout_id": 55, + "style_id": 54, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgebottomfreezer_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", 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} + }, + "init_robot_base_pos": [ + 1.5691308925138927, + -1.2559232965503826, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000060/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d571fa3266d82fb974ecae442696d0a80715c47 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 26, + "style_id": 36, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 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a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000069/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1979c0509433f22b4612d12e6e691f3122ecfcc4 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,465 @@ +{ + "layout_id": 21, + "style_id": 14, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + 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1.1167536568291123, + -3.405979079159044, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000070/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b015c1dfa53028be497c1154e6d177581554857 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 19, + "style_id": 33, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_main_group_3", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + 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"fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.0720825927035424, + 0.10086663904729201, + 0.07184646271761685 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.012919658098905995, + 0.11229077411789155, + -0.011415680051977404 + ], + "size": [ + 0.7172912599082715, + 0.537243236690721 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": 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{ + "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": [ + 1.0801314577694505, + -0.5850952157452365, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000073/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccca71ecb6efe08975af30a4f45b0eb5b46f9b3b --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 49, + "style_id": 32, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.001765626051181468, + 0.04783960034932222, + -0.05130958586945345 + ], + "size": [ + 0.5934980511895389, + 0.45051878634929654 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.236117319893221 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + 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a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000074/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d7bac88a71dd54a4fad4a3b10c7ed453fb07b0b --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 16, + "style_id": 15, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", 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"top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": 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+ "gen_textures": {}, + "lang": "Fully open the fridge drawer.", + "fixture_refs": { + "fridge": "fridge_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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": [ + 1.1617002381502224, + -2.8295724243917877, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000077/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d610ae6179a522db57f65772b7f3d2c2ffa1846b --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 16, + "style_id": 13, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0008222553403574029, + 0.059497331826690425, + -0.1205327836617613 + ], + "size": [ + 0.6719920481962567, + 0.5319859729361881 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 8.615403676867639e-05, + 0.06749573964801626, + 0.5208841272189492 + ], + "size": [ + 0.771092003098423, + 0.5150505212666887 + ], + "name": "fridge_shelf1" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": 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"microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + 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+} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000078/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eca41d837fdd48abbd658417bc97e7615f4c1d76 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,409 @@ +{ + "layout_id": 44, + "style_id": 26, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.16702733472123024, + 0.001235011619542134, + -0.1526586046011906 + ], + "size": [ + 0.34784090578975907, + 0.3834909658174527 + ], + "name": "fridge_drawer3" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.04989618215999998, + 0.13199999735999995, + 0.07959800375999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000081/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df01479d5d6e547dcdbb6abce67d1ac49eaff692 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 50, + "style_id": 59, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, 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0000000000000000000000000000000000000000..e149cdddd9a5e8e429d21041dc71d605a83c2608 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 49, + "style_id": 54, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_left_group_2", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07388735999999997, + 0.09999999999999996, + 0.07365630199999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "potato", + "split": "train", + "mjcf_path": 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000093/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7652fee9955c95ceb59d4a471b2e417f6bf8395 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 13, + "style_id": 49, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + 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0000000000000000000000000000000000000000..5c044c45e6d03e64f4e566852ec82cf660512583 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 20, + "style_id": 53, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_front_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.09316000237999998, + 0.16059021236, + 0.02972737928999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "banana", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..f1fe4402283f164ece2db6d58bd5f7b51de41c3e --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,398 @@ +{ + "layout_id": 52, + "style_id": 17, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgebottomfreezer_left_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lime", + "split": "train", + "mjcf_path": 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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": [ + 4.108780733194044, + -1.1911053095857471, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000100/ep_meta.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14fecce63f6e07a08a1feb464da1ad4bb0840221 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 33, + "style_id": 60, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004911567610903222, + -0.011301956603343988, + -0.13956742117712398 + ], + "size": [ + 0.6864899363245445, + 0.39517887105372673 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.13866775, + 0.015586599999999999, + 0.01576525 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cream_cheese_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cream_cheese_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004890863609567919, + -0.012682907158096224, + 0.15037053274194065 + ], + "size": [ + 0.7366719902905896, + 0.415740817181933 + ], + "name": "fridge_shelf0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + 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"size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001765626051181468, + 0.04783960034932222, + -0.05130958586945345 + ], + "size": [ + 0.5934980511895389, + 0.45051878634929654 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.06147772049999999, + 0.08868493147499999, + 0.0641568332475 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + 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b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d9949d898b675d2c5b00e04dc59a8aba8a9698d9 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 16, + "style_id": 35, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_main_group_1", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": 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"cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + 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"cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Fully open the fridge drawer.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 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0000000000000000000000000000000000000000..2ea1a2a839ef3e55713a3b69a6b13332edded0e1 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/extras/episode_000106/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 19, + "style_id": 20, + "object_cfgs": [ + { + "name": "distr_drawer", + "fridgable": true, + "graspable": true, + "obj_groups": [ + "vegetable", + "fruit" + ], + "placement": { + "fixture": "fridge_1_main_group_3", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "drawer", + "rack_index": -1, + "min_size": [ + 0.06023034399999999, + 0.07896237119999999, + 0.05580761359999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.006053406089925717, + 0.021247672538611345, + -0.2003477964484457 + ], + "size": [ + 0.5697028337037332, + 0.5795243757452073 + ], + "name": "fridge_drawer0" + } + }, + { + "name": "distr_shelf", + "fridgable": true, + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "sample_region_kwargs": { + "compartment": "fridge", + "reg_type": "shelf", + "min_size": [ + 0.0560709, + 0.0285174, + 0.0299313 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0.0, + 0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + }, + "reset_region": { + "offset": [ + 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+ "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Fully open the fridge drawer.", + "fixture_refs": { + "fridge": "fridge_1_main_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, + 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newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/meta/embodiment.json b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/meta/episodes.jsonl b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28ea0565528cdd4ffd905cf6e087bdc767e09a18 --- /dev/null +++ b/pretrain/atomic/OpenFridgeDrawer/20250821/lerobot/meta/episodes.jsonl @@ -0,0 +1,107 @@ +{"episode_index": 0, "tasks": ["Fully open the fridge drawer."], "length": 142} +{"episode_index": 1, "tasks": ["Fully open the fridge drawer."], "length": 159} +{"episode_index": 2, "tasks": ["Fully open the fridge drawer."], "length": 163} +{"episode_index": 3, "tasks": ["Fully open the fridge drawer."], "length": 181} +{"episode_index": 4, "tasks": ["Fully open the fridge drawer."], "length": 123} +{"episode_index": 5, "tasks": ["Fully open the fridge drawer."], "length": 123} +{"episode_index": 6, "tasks": ["Fully open the fridge drawer."], "length": 185} +{"episode_index": 7, "tasks": ["Fully open the fridge drawer."], "length": 122} +{"episode_index": 8, "tasks": ["Fully open the fridge drawer."], "length": 163} +{"episode_index": 9, "tasks": ["Fully open the fridge drawer."], "length": 204} +{"episode_index": 10, "tasks": ["Fully open the fridge drawer."], "length": 105} +{"episode_index": 11, "tasks": ["Fully open the fridge drawer."], "length": 207} 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0000000000000000000000000000000000000000..9855afcff8b3a313a15b5ed0ed5cf6cae70e7966 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,387 @@ +{ + "layout_id": 53, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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/SandwichBread006/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.025887740548510074, + 0.018552487396651638, + 0.024195187804189396 + ], + "size": [ + 0.03212861997307292, + 0.13975299888424167 + ], + "height": 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+ ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000004/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c78bca8be11ca6af1565dfd4f5213b12558f5b01 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 13, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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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a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000014/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e789788a4007e2298cc49214d3d031137fce72 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,327 @@ +{ + "layout_id": 52, + "style_id": 11, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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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}, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "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_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Push down the lever of the toaster to turn it on.", + "fixture_refs": {}, + "cam_configs": { + 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.873959195374382, + -0.7247550911060382, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000027/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd486c133d28c5e0d5caeb6ed4e6d5d647271140 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,438 @@ +{ + "layout_id": 24, + "style_id": 32, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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/SandwichBread002/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.029057098103149166, + 0.027699804171477667, + 0.03815440349748106 + ], + "size": [ + 0.0232385818042601, + 0.10537864557596192 + ], + "height": 0.12316664896348875, + "name": "slotL" + } + } + ], + "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": 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"robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.784681161634568, + -0.816280703548408, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000028/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61675c453a89985aa00bee586506206e796cf238 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,315 @@ +{ + "layout_id": 34, + "style_id": 32, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread007/model_upright.xml" + }, + "reset_region": { + "offset": [ + -0.029057098103149166, + 0.027699804171477667, + 0.03815440349748106 + ], + "size": [ + 0.0232385818042601, + 0.10537864557596192 + ], + "height": 0.12316664896348875, + "name": "slotL" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000032/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46eafa0356cb19eb2084f9348f42ebf5972829bb --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,372 @@ +{ + "layout_id": 60, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000040/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5c8f26c4a9a86014ac1076a9b599104259b807e --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 22, + "style_id": 58, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000061/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..208956bcaae838bb2bc1d6598f56afd35ab2b262 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 13, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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", + 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+ "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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/SandwichBread003/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.030304426827971985, + 0.00845037026312078, + 0.014102808773848416 + ], + "size": [ + 0.03355297217508367, + 0.1431986219689943 + ], + "height": 0.15767138812951267, + "name": "slotR" + } + } + ], + "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": { + 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--git a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000086/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7dbab2ae149b5ff821aef35bb48bedcead9e4f7f --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,363 @@ +{ + "layout_id": 32, + "style_id": 33, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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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0000000000000000000000000000000000000000..0ea387fe46941a10fb27d7bc62c84e9b1209d8e1 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 17, + "style_id": 18, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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": [ + -0.08455863317329657, + 0.011510480375473683, + 0.019718760447588284 + ], + "size": [ + 0.0316301844037742, + 0.15431591769786787 + ], + "height": 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+} \ No newline at end of file diff --git a/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000092/ep_meta.json b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef82f5d1460d1f25d4a1ca773fa22ee30a16ea85 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 39, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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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0000000000000000000000000000000000000000..340d8ba3bd58e45957b1841178d26d5dd1f476f0 --- /dev/null +++ b/pretrain/atomic/TurnOnToaster/20250820/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 20, + "style_id": 13, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "sandwich_bread", + "rotate_upright": true, + "object_scale": 0.85, + "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/SandwichBread003/model_upright.xml" + }, + "reset_region": { + "offset": [ + 0.02361516979872497, + 0.018700935290182328, + -0.01267653856581931 + ], + "size": [ + 0.03206450901026422, + 0.156548381235824 + ], + "height": 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"robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8087843119376753, + -1.952712503446883, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "task_refs": { + "behavior": "right", + "init_sink_mode": "off" + } +} \ No newline at end of file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000027/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aff55cd40c556cd1614944316d269f38eac64b62 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 58, + "style_id": 46, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + 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diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000075/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2839fd371cad9ebaa3eabf795d75546987f85d56 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 27, + "style_id": 18, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.07741034, + 0.0774436, + 0.20674693 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "train", + 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"behavior": "left", + "init_sink_mode": "on" + } +} \ No newline at end of file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000083/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f2cdf321259e0f13d57c6cf1822ddc3cb925392 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 19, + "style_id": 40, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0748326375, + 0.05401265000000001, + 0.1498395375 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca62c2e3217f957b036a0a9106e18cbb4500634 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 18, + "style_id": 40, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_1_right_group", + "loc": "left_right", + "min_size": [ + 0.0903345629175, + 0.090334565145, + 0.22485580053749998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": 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