diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000007/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf87b4c699e6d87cfb5a42e4a6b2b2a0688dad85 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,671 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + 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+ 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagged_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bagged_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_8/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + 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"cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.1745179841213733, + -0.1214204847558087, + 0.46378745582301795 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "stove_right_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_2_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_drink", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_5/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + 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"fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0030204902287194082, + -0.08472145613809907, + 0.018579957934547576 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + 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"cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "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_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + 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"cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stove_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.16922150961710364, + 0.16458012599885644, + 0.46378745582301795 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_8/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stove_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_6/model.xml" + }, + "reset_region": { + "offset": [ + -0.306052801971979, + 0.02606173942985031, + 0.018579957934547576 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.3004094894866528, + -0.06174174918310694, + -0.006877063101151754 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_7/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_6/model.xml" + }, + "reset_region": { + "offset": [ + -0.2840749050727708, + 0.04442623612276228, + -0.006875598981718245 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_9/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "scissors", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "scissors", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_6/model.xml" + }, + "reset_region": { + "size": [ + 1.817460818110389, + 0.65 + ], + "offset": [ + 0.9912695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + 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"plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.3004094894866528, + -0.06174174918310694, + -0.006877063101151754 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice012/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.3004094894866528, + -0.06174174918310694, + -0.006877063101151754 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_right_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "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_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + 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"gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_right_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.30716300182360834, + 0.14229634545521547, + -0.006867567240825858 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_right_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fork", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "fork", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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vegetables in it onto the plate. 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.30716300182360834, + 0.14229634545521547, + -0.006867567240825858 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_9/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spoon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_6/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + 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"cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + 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"cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_5/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.22203348358224223, + 0.15337196509891443, + 0.01802683985770189 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge008/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_6/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "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" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6603624630279894, + -0.8136481907941706, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000099/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a50a9eb2a296361887011acef2652860d40fd20e --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.1745179841213733, + -0.1214204847558087, + 0.46378745582301795 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_8/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "stove_right_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fork", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "fork", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_6/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_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_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + 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"fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.2840749050727708, + 0.04442623612276228, + -0.006875598981718245 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_4/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turmeric", + "spice" + ], + "groups": [ + "all" + ], + "cat": "turmeric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turmeric/Turmeric010/model.xml" + }, + "reset_region": { + "size": [ + 1.817460818110389, + 0.65 + ], + "offset": [ + 0.9912695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stove_left_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.18096241496396104, + -0.0911247566121269, + 0.34503132559806926 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_6/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "stove_left_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_2_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "receptacle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "jar", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar024/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stove_left_group", + "counter": "counter_2_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, + 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"groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "egg", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": 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"cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": 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"cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": 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onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.671707104141557, + -0.8038049765680838, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000166/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000166/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..678fc181b21f3f685d7212fb03538ee9ea2fc512 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000166/ep_meta.json @@ -0,0 +1,597 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + -0.306052801971979, + 0.02606173942985031, + 0.018579957934547576 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_5/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spoon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.20027750578937115, + 0.1288789943260793, + 0.2894752593294014 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "stove_right_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_2_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turkey_slice" + ], + "groups": [ + "all" + ], + "cat": "turkey_slice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice012/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stove_right_group", + "counter": "counter_2_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, + 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"fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027528044265719316, + 0.13810253094490263, + 0.018579957934547576 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + 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"Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": 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"cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.22203348358224223, + 0.15337196509891443, + 0.01802683985770189 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "squash", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peeler", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + 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"cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.812072759307653, + -0.8149371781881353, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000187/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000187/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2a4d279848695185d2e79a4f81952ad875d5278 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000187/ep_meta.json @@ -0,0 +1,672 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.22203348358224223, + -0.0793278425553619, + 0.01802683985770189 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "broccoli", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "spray", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray006/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "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" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5493423180480197, + -0.788321091083001, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000190/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000190/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0373717e00fa9afb369ce2b494fb3402cedba895 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000190/ep_meta.json @@ -0,0 +1,598 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0030204902287194082, + -0.08472145613809907, + 0.018579957934547576 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "bell_pepper", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagel", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bagel", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_9/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } 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"lang": "Pick up the pan and dump the vegetables in it onto the plate. 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.012007389886144372, + -0.05884770796285884, + -0.006876059133540205 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_7/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_right_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + 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"lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_right_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, 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"fixture": "stove_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.1745179841213733, + -0.1214204847558087, + 0.46378745582301795 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "eggplant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "egg", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_8/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + 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"SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.082499319221624, + -0.7876489646483473, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000227/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000227/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c27a6759e19044d983e0ed5ae97722cd98a48d01 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000227/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.22203348358224223, + -0.0793278425553619, + 0.01802683985770189 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "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" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5658348811516287, + -0.8048086517175844, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000238/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000238/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3da4ec1fc2850c4885ac0279e95287e6a245637a --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000238/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": 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"fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_6/model.xml" + }, + "reset_region": { + "offset": [ + -0.2840749050727708, + 0.04442623612276228, + -0.006875598981718245 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_right_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "shaker", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + 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vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_right_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, 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"stove_left_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.18096241496396104, + 0.11770504370939439, + 0.34503132559806926 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_6/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "stove_left_group", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.3004094894866528, + -0.06174174918310694, + -0.006877063101151754 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_9/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "baguette", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stove_left_group", + "counter": "counter_2_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, + 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"stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.16550102963256233, + 0.16229742619893764, + 0.46378745582301795 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_5/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "stove_right_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + 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], + "cat": "onion", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_8/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + 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], + "cat": "onion", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_6/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_right_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle007/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + 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"stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.19765181461213538, + 0.11051621682681685, + 0.2894752593294014 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "stove_right_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + 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"outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_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_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stove_right_group", + "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": [ + 3.5625352105971286, + -1.629199735406123, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000351/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000351/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b5343ba368dce86837e9b64ca4e36fb3a5f1867 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000351/ep_meta.json @@ -0,0 +1,671 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.22203348358224223, + -0.0793278425553619, + 0.01802683985770189 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_8/model.xml" + }, + "reset_region": { + "size": [ + 1.6408974425329137, + 0.65 + ], + "offset": [ + 0.6795512787335429, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "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" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.21201235646570418, + 0.15337201125034186, + 0.01802683985770189 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.012007389886144372, + -0.05884770796285884, + -0.006876059133540205 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "onion", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_7/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": 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"stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.19765181461213538, + 0.11051621682681685, + 0.2894752593294014 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "stove_right_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ 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"vegetable" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_7/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": 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"stove_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.16550102963256233, + 0.16229742619893764, + 0.46378745582301795 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_4/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + 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}, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_6/model.xml" + }, + "reset_region": { + "offset": [ + -0.2840749050727708, + 0.04442623612276228, + -0.006875598981718245 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "garlic", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.012007389886144372, + -0.05884770796285884, + -0.006876059133540205 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + 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}, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_right_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + 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"stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.19765181461213538, + 0.11051621682681685, + 0.2894752593294014 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + 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"fixture": "stove_left_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + -0.1807112095366889, + 0.1177043562951481, + 0.34503132559806926 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_4/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "stove_left_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_2_left_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_5/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + 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"stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.1908583836730293, + -0.15091972905846288, + 0.2894752593294014 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stove_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + -0.18947859746553017, + -0.12939341124301007, + 0.2894752593294014 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_6/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + 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"stove_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + -0.16922150961710364, + 0.16458012599885644, + 0.46378745582301795 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_9/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stove_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.3004094894866528, + -0.06174174918310694, + -0.006877063101151754 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + 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Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.185360648571224, + -0.8076077163738397, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000468/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000468/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e86fa5bddd8eccc8c19de2f70853ddc59750c94 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000468/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.005941294780142654, + 0.023114776284060255, + 0.01802683985770189 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "center" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "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" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5551598919859506, + -0.8037874624397723, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000481/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000481/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c41839fad50733f54886ab3aed33cb99674c812 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000481/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + -0.1631661348802123, + -0.12179392194724994, + 0.46378745582301795 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable" + ], + "cat": "carrot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "stove_right_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_2_right_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice009/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_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_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stove_right_group", + "counter": "counter_2_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": [ + 4.3185270210059645, + -1.5214339635609702, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000482/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000482/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da04ff0e1d966a733f81caab66fb9fa58511450f --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000482/ep_meta.json @@ -0,0 +1,673 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.22203348358224223, + 0.15337196509891443, + 0.01802683985770189 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_2/model.xml" + }, + "reset_region": { + "size": [ + 1.6408974425329137, + 0.65 + ], + "offset": [ + 0.6795512787335429, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "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" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5591297693903106, + -0.7953788509076012, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000485/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000485/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1d87f0b81b50accd3d80727e4e886e8b43c058f --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000485/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.20027750578937115, + 0.1288789943260793, + 0.2894752593294014 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_8/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "stove_right_group", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + 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"fixture": "stove_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.1908583836730293, + -0.15091972905846288, + 0.2894752593294014 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + 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"fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml" + }, + "reset_region": { + "offset": [ + -0.2840749050727708, + 0.04442623612276228, + -0.006875598981718245 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_8/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_main_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "bar_soap", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_3/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + 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}, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.697187518505748, + -0.7740399080385304, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/PanTransfer/20250817/lerobot/extras/episode_000507/ep_meta.json b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000507/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4a8f1bc7c30070e76f83a1795b201d31e9a194 --- /dev/null +++ b/target/composite/PanTransfer/20250817/lerobot/extras/episode_000507/ep_meta.json @@ -0,0 +1,600 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "vegetable_container", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "pan" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.3365955378959424, + 0.13798251540419307, + 0.018579957934547576 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "vegetable", + "obj_groups": "vegetable", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "vegetable_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable" + ], + "cat": "lime", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "graspable": false, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dstr_dining", + "obj_groups": "all", + "exclude_obj_groups": [ + "plate", + "pan", + "vegetable" + ], + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.3, + 0.2 + ], + "pos": [ + 0.5, + 0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_6/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "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_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.233930526551472, + -0.8108236384950308, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file