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diff --git a/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000003/ep_meta.json b/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fe81b569bc3aba1ff5027975baf3357127fca69 --- /dev/null +++ b/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 41, + "style_id": 45, + "object_cfgs": [ + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "dishwasher_1_main_group_1", + "min_size": [ + 0.07414489344000001, + 0.07414516000000003, + 0.27200000272 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "wine", + 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file diff --git a/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000011/ep_meta.json b/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0e5fdc5ad60db5e47ff4765c765a5a4e9b8bc69 --- /dev/null +++ b/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 45, + "style_id": 14, + "object_cfgs": [ + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "dishwasher_1_main_group_1", + "min_size": [ + 0.1006432, + 0.2113456, + 0.0745664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + 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a/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000021/ep_meta.json b/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..352943238265c1f4f91561dd7f91c3018c74456a --- /dev/null +++ b/pretrain/atomic/CloseDishwasher/20250820/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 38, + "style_id": 19, + "object_cfgs": [ + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "dishwasher_1_main_group_1", + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + 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3.141430444834092 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000003/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b910cc25015b9ad66779d7f496fc629bcc932ce --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 38, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "blender_island_group_1", + "loc": "left_right", + "min_size": [ + 0.07443837936, + 0.13501271105722873, + 0.029720465409044022 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + 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a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000011/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..975120242bde35965e1eaa9a29a1047bc81a2f0a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 36, + "style_id": 18, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "blender_front_group_1", + "loc": "left_right", + "min_size": [ + 0.04939367444764508, + 0.05450393445318722, + 0.03939539812153687 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + 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"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": [ + 2.189019577581091, + -4.84921724761057, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000015/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..361903bffbc864ac80821a1e934eb9258471434c --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 31, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": 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newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000020/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..367408674f66f17b6b7b31dccef110c6e8864aea --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 54, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "blender_main_group_1", + "loc": "left_right", + "min_size": [ + 0.05471675639999998, + 0.052118302799999974, + 0.059862316799999975 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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0000000000000000000000000000000000000000..e3c5955ba40ee553ab630b432d3c14bdaa8b6feb --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 31, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "blender_island_group_1", + "loc": "left_right", + "min_size": [ + 0.04939367444764508, + 0.05450393445318722, + 0.03939539812153687 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "size": [ + 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+ "gen_textures": {}, + "lang": "Pick the tangerine from the counter and place it in the blender.", + "fixture_refs": { + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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--git a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000042/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b6afd65b697bbdd751545c91893fa1793c088df --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 36, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "blender_front_group_1", + "loc": "left_right", + "min_size": [ + 0.04963122726173532, + 0.09599551380371035, + 0.05115830285068884 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", 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newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000045/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d0196d17eac379ee461f5c0e1a6b059e0806c09 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 54, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "blender_main_group_1", + "loc": "left_right", + "min_size": [ + 0.05499529055999998, + 0.05412099615999997, + 0.05005248079999998 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,509 @@ +{ + "layout_id": 35, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "blender_island_group", + "loc": "left_right", + "min_size": [ + 0.051054380000000024, + 0.050284486720000014, + 0.041123837040000014 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "size": [ + 1.157234934879622, + 1.3 + ], + "offset": [ + 0.32138253256018906, + 0.0, + 0.46 + 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b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..204c6d59355624642f2f02dc6c48f62d54b90229 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 23, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "blender_right_group", + "loc": "left_right", + "min_size": [ + 0.04453912965600001, + 0.044154480384000015, + 0.05070177453600002 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "fruit" + ], + "cat": "apple", + 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}, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the apple from the counter and place it in the blender.", + "fixture_refs": { + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "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": [ + 4.794181683333859, + -2.772521153228094, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000081/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7c67b89149418172e0639293cb2d91e85a24310 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,429 @@ +{ + "layout_id": 14, + "style_id": 27, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "blender_left_group_1", + "loc": "left_right", + "min_size": [ + 0.05460462652875665, + 0.054269110707943206, + 0.02919146164074391 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "fruit" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml" + }, + 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--git a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000086/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..219c2dcc48eb3708d45c25779613b0c6af4ac130 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 58, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "blender_island_group_1", + "loc": "left_right", + "min_size": [ + 0.04716869280000001, + 0.04693852512000001, + 0.04071390336000002 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + 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b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..740d44301d8e7de5db6d466f77296564a1fd5b7e --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 42, + "style_id": 22, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "blender_island_group_1", + "loc": "left_right", + "min_size": [ + 0.04717404672000001, + 0.045339720000000014, + 0.031237728960000006 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "tangerine", + "split": "train", + 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b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8968952cd9a87f384b465b8054e0978513c6d8e6 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 60, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "blender_left_group_1", + "loc": "left_right", + "min_size": [ + 0.04609595462399999, + 0.05803438233599998, + 0.041001316416 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "fruit" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": 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--git a/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000101/ep_meta.json b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1af3d7a2a9899bc19ddd145ebe02b9d18958ee9e --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToBlender/20250822/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 48, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "fruit", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "blender_island_group_1", + "loc": "left_right", + "min_size": [ + 0.05090332968, + 0.048609600480000015, + 0.04961455178400001 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "object_scale": 0.8, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + 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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": [ + 2.6978463907811427, + -0.7938941040976644, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000001/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..722ab127eecc44eba45eff614a7eb71187282f49 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 30, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_right_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.00013712464552104175, + -0.024069908043178587, + -0.22387841800324237 + ], + "size": [ + 0.40355167428678823, + 0.2950312392401234 + ], + "height": 0.18995636849192682, + "name": "basin" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 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+ 0.0, + 0.0, + -1.3435886114798734e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000002/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8bdff0d712607b3f53808c4230a9115603111cb --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 18, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_right_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "lime", + "split": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000005/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9a923c0420c3fd96f7be2d1508d95b658fc71 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 32, + "style_id": 14, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ 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"HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the milk from the sink and place it on the plate located on the counter.", + "fixture_refs": { + "sink": "sink_1_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, 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"style_id": 13, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.2033680412546321, + 0.00039896058224545006, + -0.187377876053211 + ], + "size": [ + 0.37096235902536634, + 0.4471119238714088 + ], + "height": 0.2063960938121405, + "name": "basin" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3340692097506768, + -2.3455167047834533, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55164023a397006375b0fd8bd4066d0d306af04f --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 56, + "style_id": 17, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + 9.149386503125301e-05, + -0.04796710830963595, + -0.19545471561860028 + ], + "size": [ + 0.4487786699057331, + 0.3074873656301691 + ], + "height": 0.18914791557719277, + "name": "basin" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + 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newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000018/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60d2d171a7b50c7b8b219c7ac6dc3064fcf2ac05 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 50, + "style_id": 18, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": 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newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7dcadb0084b8bc8c67692566a770c835f0865c --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 41, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": 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+ }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.531954928651688, + -0.8494924921688924, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000023/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c72c71bf800f702a9340f91dc1cd77451c0dde6b --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,554 @@ +{ + "layout_id": 35, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": 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"type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.2862242259761802, + 0.65 + ], + "offset": [ + -0.7034378870119098, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.11868673950000001, + 0.10185093450000002, + 0.14552786850000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.3 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + 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"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": [ + 4.5319560214436, + -2.235535749320201, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000024/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ec0526982b69f75741d1eecf6a19da2e67b85e9 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,498 @@ +{ + "layout_id": 57, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + 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new file mode 100644 index 0000000000000000000000000000000000000000..417209c5f4f9bfa5df59c478344132e566889481 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 39, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.00013712464552104175, + -0.024069908043178587, + -0.22387841800324237 + ], + "size": [ + 0.40355167428678823, + 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0000000000000000000000000000000000000000..a2667ae2aba2d6c9519565e067f4e31c82e840d4 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 54, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2337664429193589, + -0.026744692983198037, + -0.23104242983236573 + ], + "size": [ + 0.42363230858580997, + 0.4095219847273065 + ], + 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"floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + 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+ }, + "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": [ + 1.5890743935273677, + -2.9403113546500017, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000030/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09a1ae87f1470701175892d2f8ed78447977f73e --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 52, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.001001026857284787, + 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} + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0660677688, + 0.14600320415999998, + 0.055018263959999994 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.3 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_2/model.xml" + }, + "reset_region": { + "size": [ + 1.5783301243791432, + 0.65 + ], + "offset": [ + 0.33833493781042856, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + 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"parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.495276161783807, + -1.2032626938710733, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000031/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da2ce4f123b60871c086ea068c404ab5ddbd1cd1 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 54, + "style_id": 53, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1138694192140215, + 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file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000035/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1906bfe670b602be4537a31ad9e1a9d4d03d40f0 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 14, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_island_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": 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at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000037/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab2c0343e9b382b62610cc7a05f774566c86a0a0 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,572 @@ +{ + "layout_id": 17, + "style_id": 20, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_right_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": 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0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.877074244301606, + -2.1138234234526907, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000038/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e73aeefceaf21da3b633cb659fc23a9203ce93 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 16, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_right_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c297f210cf37e099ace519bfc343fca552a5a10a --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 34, + "style_id": 25, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 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+ "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1691540700728527, + -3.407186602039864, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000043/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbc79f375931a3f4b3e7b562eb0d12a7899ab6b5 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 38, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.21500250718720276, + -0.041432212610281516, + -0.22800612393871678 + ], + "size": [ + 0.28606758145866207, + 0.3676055948766946 + ], + "height": 0.12750776516385834, + "name": "basin_right" + } + }, + { + "name": "container", + "obj_groups": "container", + 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8164284624831635, + -2.1714601325790084, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000047/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9004217825ac82eca02ef1743c97d85c639a969e --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 58, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + 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0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" + }, + "reset_region": { + "offset": [ + 0.19388016231908867, + -0.002682803526246197, + -0.2138930795623537 + ], + "size": [ + 0.43329073200660473, + 0.41896811018702423 + ], + "height": 0.17810293712910438, + "name": "basin_right" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b66d49e3cae1790814ce9c81f3df1ad1c84ee851 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,500 @@ +{ + "layout_id": 57, + "style_id": 25, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.22429199209769493, + 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d17c4d56255bf1c7cbb05c6b8af5791cc840afde --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 55, + "style_id": 31, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "food" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_18/model.xml" + }, + "reset_region": { + "offset": [ + 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f7855670c3d111bd47fc85396e64892cfd54563 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 32, + "style_id": 58, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, 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0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000062/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc06f4cdcd3426ffd239ab3a31ecab770409705d --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 51, + "style_id": 16, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "peach", + "split": "train", + 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 17, + "style_id": 22, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_right_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2234266545150822, + -0.001252357618651917, + -0.25239914471674074 + ], + "size": [ + 0.4068430785212167, + 0.38341415728354855 + ], + "height": 0.19991324859598003, + "name": "basin" + } + }, + { + "name": "container", + "obj_groups": "container", 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"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": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa55cc30c7ee0c5399049f920a7e586e6079a7b --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,599 @@ +{ + "layout_id": 29, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 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"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": [ + 2.589208801221378, + -0.793533594303925, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000071/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1441845dbe749ce952159c6cfb1992e96205b6 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 23, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.14218444463220675, + -0.010776829125248494, + -0.24158432982107356 + ], + "size": [ + 0.3122642093439364, + 0.28679743836978133 + ], + "height": 0.16637211590457257, + "name": "basin" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.8975751665009941, + 0.65 + ], + "offset": [ + 1.2327124167495032, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.005732, + 0.195316, + 0.005732 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.3 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "train", + "mjcf_path": 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..abb9158e9aa9a6c5e98be278eaa92dbeb8b87b29 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 25, + "style_id": 58, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + 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}, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.05927122655999998, + 0.16936915248, + 0.02869816221 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.3 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8526866106143346, + 0.65 + ], + "offset": [ + 1.7566566946928326, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + 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a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000073/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7a04f6e4a1537f94eb0cd622c9cc6660e44144f --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 37, + "style_id": 32, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "onion", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..e9c0ccd91578c2c92193ca90a19dcd8dddfdddad --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,546 @@ +{ + "layout_id": 23, + "style_id": 18, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + -7.775544586069438e-05, + -0.025937911125368376, + -0.17204538823022003 + ], + "size": [ + 0.36440359075440665, + 0.2804203118542071 + ], + "height": 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newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000079/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34aeea910aa0e60c00bddef034825e6c52d8dfb1 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,511 @@ +{ + "layout_id": 27, + "style_id": 20, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": 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"cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": 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"counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7653117789434467, + -1.9774352714460341, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000082/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c541ca2315bbbef4595e559d653d3bd44e4623b4 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 29, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4291243019160478, + 1.8 + ], + "offset": [ + 1.1079378490419762, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.074613955, + 0.15433813049999998, + 0.06454025399999999 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.3 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun005/model.xml" + }, + "reset_region": { + "size": [ + 1.4291243019160478, + 1.8 + ], + "offset": [ + -1.107937849041976, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + 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"microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": 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"coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the avocado from the sink and place it on the plate located on the counter.", + "fixture_refs": { + "sink": "sink_island_group", + "counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2649668733334436, + -4.153307459564525, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.4228548662085245e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000083/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea6d542eda0fe1a4478e61592669c607ae58b83a --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,511 @@ +{ + "layout_id": 21, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.21887224222439472, + -0.002063982933440983, + -0.22482982415088135 + ], + "size": [ + 0.28569482144577674, + 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0000000000000000000000000000000000000000..4afd2d4583376aeaaed7d580b070c3d73a1db4f5 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 59, + "style_id": 44, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.06517741141494493, + -0.024395080242305967, + -0.22206354385833346 + ], + "size": [ + 0.3445961465834447, + 0.39989720086417463 + ], + 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"fixture": "sink_island_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "food" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.06517741141494493, + -0.024395080242305967, + -0.22206354385833346 + ], + "size": [ + 0.3445961465834447, + 0.39989720086417463 + ], + "height": 0.13494754823873578, + "name": "basin" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", 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}, + "gen_textures": {}, + "lang": "Pick the carrot from the sink and place it on the plate located on the counter.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + 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the plate located on the counter.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 15, + "style_id": 20, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml" + }, + "reset_region": { + "offset": [ + 5.3434686679176835e-05, + -0.0439120849285762, + -0.18375552914813756 + ], + "size": [ + 0.3571497784950408, + 0.30087161798307444 + ], + "height": 0.20158517318934546, + "name": "basin" + } + }, + { + "name": "container", + "obj_groups": 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\ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000103/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0032b3401ccbe9b85f8d7f48ec34af61f5cec50b --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 54, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000104/ep_meta.json b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c7ac34c98417e7b094646d67f91b150d03db752 --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 43, + "style_id": 25, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "washable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.25, + 0.25 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": 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"hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/meta/episodes.jsonl b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1569c72d113cd9337549c2ad3ff6d56702c850a --- /dev/null +++ b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/meta/episodes.jsonl @@ -0,0 +1,108 @@ +{"episode_index": 0, "tasks": ["Pick the squash from the sink and place it on the plate located on the counter."], "length": 236} +{"episode_index": 1, "tasks": ["Pick the orange from the sink and place it on the plate located on the counter."], "length": 297} +{"episode_index": 2, "tasks": ["Pick the lime from the sink and place it on the plate located on the counter."], "length": 202} +{"episode_index": 3, "tasks": ["Pick the lemon from the sink and place it on the plate located on the 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b/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot/meta/tasks.jsonl @@ -0,0 +1,33 @@ +{"task_index": 0, "task": "Pick the squash from the sink and place it on the plate located on the counter."} +{"task_index": 1, "task": "Pick the orange from the sink and place it on the plate located on the counter."} +{"task_index": 2, "task": "Pick the lime from the sink and place it on the plate located on the counter."} +{"task_index": 3, "task": "Pick the lemon from the sink and place it on the plate located on the counter."} +{"task_index": 4, "task": "Pick the garlic from the sink and place it on the plate located on the counter."} +{"task_index": 5, "task": "Pick the eggplant from the sink and place it on the plate located on the counter."} +{"task_index": 6, "task": "Pick the milk from the sink and place it on the plate located on the counter."} +{"task_index": 7, "task": "Pick the mango from the sink and place it on the plate located on the counter."} +{"task_index": 8, "task": "Pick 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+{"task_index": 26, "task": "Pick the carrot from the sink and place it on the plate located on the counter."} +{"task_index": 27, "task": "Pick the cucumber from the sink and place it on the plate located on the counter."} +{"task_index": 28, "task": "Pick the tomato from the sink and place it on the plate located on the counter."} +{"task_index": 29, "task": "Pick the corn from the sink and place it on the plate located on the counter."} +{"task_index": 30, "task": "Pick the banana from the sink and place it on the plate located on the counter."} +{"task_index": 31, "task": "Pick the cheese from the sink and place it on the plate located on the counter."} +{"task_index": 32, "task": "PickPlaceSinkToCounter"} diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000003/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 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+ "task_refs": { + "behavior": "left", + "init_sink_mode": "on" + } +} \ No newline at end of file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000005/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..094711845c696e6d23768044d4dc974802e96ac2 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 60, + "style_id": 31, + "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": [ + 0.088952637, + 0.1, + 0.028448250000000005 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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"stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Turn the sink spout to the right.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "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": [ + 1.2650118881687364, + -4.237509897108508, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.4228548662085245e-08 + ], + "task_refs": { + "behavior": "right", + "init_sink_mode": "on" + } +} \ No newline at end of file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000041/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e8d7e55569a1181752a8739aab3fa8b871e7f70 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 16, + "style_id": 58, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "min_size": [ + 0.030919662499999997, + 0.030623749999999998, + 0.0290325 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "ice_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube003/model.xml" + }, + "reset_region": { + "size": [ + 2.190546610614335, + 0.65 + ], + "offset": [ + 1.2297266946928334, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "size": [ + 2.190546610614335, + 0.65 + ], + "offset": [ + 1.2297266946928334, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_sink", + "obj_groups": "all", + "washable": true, + "placement": { + "fixture": "sink_1_right_group_1", + "size": [ + 0.3, + 0.4 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + 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"wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "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" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Turn the sink spout to the left.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2500785926422266, + -2.5722534657500793, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "task_refs": { + "behavior": "left", + "init_sink_mode": "on" + } +} \ No newline at end of file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000042/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85f156a85e29f443d827c5258652c4eb65698281 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 21, + "style_id": 18, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", 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a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000043/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..368d1daab3a128422dbb71f4e91618a214be5996 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,505 @@ +{ + "layout_id": 22, + "style_id": 39, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.12239322999999999, + 0.12596432000000002, + 0.0237349 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + 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a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000044/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e570d26d75f5c20f0d48f9187b816d2636ffef --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 27, + "style_id": 16, + "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": [ + 0.06427166399999999, + 0.03698743039999999, + 0.15998434079999996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ketchup", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "ketchup", + 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+ } +} \ No newline at end of file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000058/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46bae32adba4cf69669d0a2060d837aabbf2d56c --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,681 @@ +{ + "layout_id": 25, + "style_id": 39, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.058021367000000004, + 0.058022976000000004, + 0.1 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "can", + "drink", + "group1" + ], + "groups": [ + 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file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000059/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9fcf306a2856de353a8e26166cdb9a2641844be --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 47, + "style_id": 45, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_03_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.287768704543799, + -2.631262016577581, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "task_refs": { + "behavior": "left", + "init_sink_mode": "off" + } +} \ No newline at end of file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000101/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5e102e4d12580047fb69612b6e29ccddc072d5 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 45, + "style_id": 47, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.04796986162499999, + 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"behavior": "right", + "init_sink_mode": "off" + } +} \ No newline at end of file diff --git a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000102/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37f50062ac3a49faabec6954ee26ba43d961c763 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,546 @@ +{ + "layout_id": 23, + "style_id": 20, + "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": [ + 0.06792552134999998, + 0.06795752309999996, + 0.05594104889999998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ 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a/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000104/ep_meta.json b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa555f27e30c55159ca35ff6b0c49e2545c32cb2 --- /dev/null +++ b/pretrain/atomic/TurnSinkSpout/20250820/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,519 @@ +{ + "layout_id": 46, + "style_id": 22, + "object_cfgs": [ + { + "name": "distr_counter_0", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "min_size": [ + 0.0632092734, + 0.20999999160000002, + 0.036692390700000015 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + 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