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b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb6abe5a29b938f602c15dfbf9f7bc0fb33ec8f6 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 19, + "style_id": 24, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": 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a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..adc2738498c9cc816cb1b0baa49a1efc82e561f7 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 11, + "style_id": 19, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": 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file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf9569bc0b6c3ef8c54afd7d00b511c67f660abb --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 58, + "style_id": 46, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 0.7436341384582225, + 0.65 + ], + "offset": [ + 1.259982930770889, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.7436341384582225, + 0.65 + ], + "offset": [ + 1.259982930770889, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], 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0000000000000000000000000000000000000000..fbca2944276b810a53eb784df8f1064eda5e9867 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 21, + "style_id": 33, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 1.3111393588788467, + 0.65 + ], + 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0000000000000000000000000000000000000000..82b93be58b1e1cea7c8cb4e230b7b639f9e53579 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,622 @@ +{ + "layout_id": 25, + "style_id": 59, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml" + }, + "reset_region": { + "size": [ + 2.6644961570665355, + 0.65 + ], 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b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff21936745efc6b6f7b0e328b290e94b7180b4c1 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 21, + "style_id": 48, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": 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a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07d0f5c1d1c8e49d8828e80c8411826d5e044d9a --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 22, + "style_id": 21, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml" + }, + "reset_region": { + "size": [ + 1.7778252358958158, + 0.65 + ], + "offset": [ + 1.6285873820520926, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.7778252358958158, + 0.65 + ], + "offset": [ + 1.6285873820520926, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { 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a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9275963f56a1285ae4db339450ea59c98815bffd --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 35, + "style_id": 25, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": 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{ + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_right_group_1", + "sink_counter": "counter_1_right_group_1", + "dining_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 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newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5c17d08f446087d13f64bb87eaad992c6d6ce37 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 51, + "style_id": 49, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher008/model.xml" + }, + "reset_region": { + "size": [ + 1.3568491600000003, + 0.65 + ], + "offset": [ + 0.9093764200000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3568491600000003, + 0.65 + ], + "offset": [ + 0.9093764200000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + 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"micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": 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pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_2_main_group_1", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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": [ + 4.729172483627764, + -0.8389268383390923, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05549e39841dd30e1abf21b91e758e305427658a --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 55, + "style_id": 24, + "object_cfgs": [ + { 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"pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher008/model.xml" + }, + "reset_region": { + "size": [ + 0.66124, + 0.65 + ], + "offset": [ + 0.8633799999999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": 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b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..719195c6f77ccc2ab4e04694edf4da3219463511 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 26, + "style_id": 13, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "sink_1_front_group", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": 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"stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "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" + }, + "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" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_front_group", + "sink_counter": "counter_1_front_group", + "dining_counter": "island_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0604310345842776, + -4.318825047162709, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5707957029303028 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a43bf572d66edae6ae7c28fc396c98c40ffa1fec --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 53, + "style_id": 40, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 0.5762149243791432, + 0.65 + ], + "offset": [ + -0.7142485378104284, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5762149243791432, + 0.65 + ], + "offset": [ + -0.7142485378104284, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + 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], + "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": [ + 3.0657953791795713, + -0.7928602115023128, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706343213793446 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d342c528f7b51d01c369194c927b9c35a946926e --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 60, + "style_id": 44, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.4972400218688844, + 0.650002 + ], + "offset": [ + -1.0264489890655577, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 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"pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 0.7288791814390089, + 0.65 + ], + "offset": [ + 0.6379164092804956, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 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b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 54, + "style_id": 26, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 0.9070762259761804, + 0.65 + ], + "offset": [ + -0.7293118870119097, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.9070762259761804, + 0.65 + ], + "offset": [ + -0.7293118870119097, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34741e4e40201fce562ac91f8928d60ac4692460 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 46, + "style_id": 24, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3df498e5e6aef037a0c1115adc8634135f2b175 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 60, + "style_id": 26, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..d91044f470b8122cc5f792ba59923e64fb27c6c6 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 27, + "style_id": 42, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml" + }, + "reset_region": { + "size": [ + 1.4050000000000002, + 0.65 + ], 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0000000000000000000000000000000000000000..6f78d217c82022813fd20380c917db81a561690e --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 38, + "style_id": 28, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 1.629925166500994, + 0.65 + ], 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pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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{ + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.2998119814390088, + 0.65 + ], + "offset": [ + -1.1900940092804957, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_2_main_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2998119814390088, + 0.65 + ], + "offset": [ + -1.1900940092804957, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + 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0000000000000000000000000000000000000000..f714caf433c86fde6ce742e183a94b172834ece4 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 38, + "style_id": 47, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher008/model.xml" + }, + "reset_region": { + "size": [ + 1.4224264140281642, + 0.65 + ], + 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{ + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 1.1978743019160478, + 0.65 + ], + "offset": [ + -1.0760628490419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "pitcher", + 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0000000000000000000000000000000000000000..674d636578a9aac227403824416f20ee0ddc9040 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 57, + "style_id": 20, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "size": [ + 0.9060846303334866, + 0.65 + ], + 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a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15bf6a24fed8ff50219c52d46e371ddee980409d --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 14, + "style_id": 51, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": 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"pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 0.9351269784582227, + 0.65 + ], + "offset": [ + -1.1202375107708886, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + 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a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b449bf696189773c5efc31ba16995240e21a665b --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 38, + "style_id": 54, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + 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b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,538 @@ +{ + "layout_id": 12, + "style_id": 28, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml" + }, + "reset_region": { + "size": [ + 1.351729166500994, + 0.65 + ], + "offset": [ + -1.261135416749503, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c393a64c5310766459720c6ab1cb5411007553b1 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 21, + "style_id": 30, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + 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+ ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9f84c28a4d273649b03332c53d68af25058767f --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 30, + "style_id": 39, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml" + }, + "reset_region": { + "size": [ + 1.1939743019160478, + 0.65 + ], + "offset": [ + -0.9005128490419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.1939743019160478, + 0.65 + ], + "offset": [ + -0.9005128490419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": 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0000000000000000000000000000000000000000..b939ab663a082600acf22d4cf5d19eee8dc9df64 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 38, + "style_id": 42, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.3282599999999998, + 0.65 + ], + 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{ + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml" + }, + "reset_region": { + "size": [ + 1.8601529878749719, + 0.65 + ], + "offset": [ + 1.0069235060625144, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "pitcher", + "size": [ + 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newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76ed9e9a8a03642ae306e088e7cf233bc5652361 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 54, + "style_id": 31, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], 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a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27d4ed656859f3895fa3d94bfb712bb1cd467798 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 32, + "style_id": 42, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": 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-0,0 +1,397 @@ +{ + "layout_id": 44, + "style_id": 11, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 0.821651098051752, + 0.650008 + ], + "offset": [ + 0.5097769509741237, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + 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] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 1.336328124379143, + 0.65 + ], + "offset": [ + -0.6783859378104284, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": 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b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 44, + "style_id": 35, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "size": [ + 0.907509431212, + 0.650008 + ], + "offset": [ + 0.46684778439399977, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..112b230dd52742bbb80455b8805fa1b098816482 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 46, + "style_id": 51, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..793ef903be3490eb525b01e709195fc41c4df2d0 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 38, + "style_id": 36, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.22083237917472595, + 0.41988382544594166, + 0.05472716075000001 + ] + }, + "size": [ + 0.35, + 0.55 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "max_size": [ + 0.35, + 0.45, + null + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0830469878749716, + 0.65 + ], + "offset": [ + 0.7254765060625141, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj2", + "obj_groups": "sponge", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": 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+ "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.26304066000000004, + 0.3773593530000001, + 0.04579860690000001 + ] + }, + "size": [ + 0.35, + 0.55 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "max_size": [ + 0.35, + 0.45, + null + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_14/model.xml" + }, + "reset_region": { + "size": [ + 1.5539500384582228, + 0.650002 + ], + "offset": [ + -0.9980939807708886, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj2", + "obj_groups": "sponge", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": 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true, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.35, + 0.55 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "max_size": [ + 0.35, + 0.45, + null + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.941898842748429, + 1.300035 + ], + "offset": [ + 1.1812665786257854, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj2", + "obj_groups": "sponge", + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "min_size": [ + 0.06069641363999998, + 0.08084041541999998, + 0.03837366008999999 + ] + }, + "size": [ + 0.2, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "sponge" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_3/model.xml" + }, + "reset_region": { + "size": [ + 1.4684113227484294, + 1.300035 + ], + "offset": [ + -1.4180103386257854, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": 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Then turn on the water.", + "fixture_refs": { + "sink": "sink_front_group_1", + "counter": "counter_2_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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"placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.23855448288000006, + 0.40117202208, + 0.026976462240000006 + ] + }, + "size": [ + 0.35, + 0.55 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "max_size": [ + 0.35, + 0.45, + null + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml" + }, + "reset_region": { + "size": [ + 1.1500643019160477, + 1.242 + ], + "offset": [ + -0.7329678490419762, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj2", + "obj_groups": "sponge", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": 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Then turn on the water.", + "fixture_refs": { + "sink": "sink_island_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "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": [ + 3.4142956484266564, + -3.94374848979303, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e96b9a174dedbaff7f0348f70e4ddc947f87a196 --- /dev/null +++ b/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 60, + "style_id": 43, + "object_cfgs": [ + { + "name": "obj1", + "obj_groups": "pan", + "graspable": true, + "washable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.20988333851210744, + 0.42179839406719866, + 0.024313858320000003 + ] + }, + "size": [ + 0.35, + 0.55 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "max_size": [ + 0.35, + 0.45, + null + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml" + }, + "reset_region": { + "size": [ + 1.5062669436254983, + 0.650002 + ], + "offset": [ + -1.0219355281872509, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj2", + "obj_groups": "sponge", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": 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}, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + 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+ "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + 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Then turn on the water.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -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": [ + 2.2913499750247706, + -2.2510972664333595, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a236b4b9b21f06c555b137e2e838e8eb67275666 --- /dev/null +++ b/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 14, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj1", + "obj_groups": "pan", + "graspable": true, + "washable": true, 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"placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.23616433728000005, + 0.4013849736000001, + 0.06464623728000003 + ] + }, + "size": [ + 0.35, + 0.55 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "max_size": [ + 0.35, + 0.45, + null + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_2/model.xml" + }, + "reset_region": { + "size": [ + 1.5550000000000002, + 0.65 + ], + "offset": [ + 0.49499999999999966, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj2", + "obj_groups": "sponge", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": 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Then turn on the water.", + "fixture_refs": { + "sink": "sink_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -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": [ + 2.514197513867715, + -2.6306474146554106, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe82699cc7b03b599fb2036636d820ec6ee9309b --- /dev/null +++ b/pretrain/composite/PreSoakPan/20250715/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 39, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj1", + "obj_groups": "pan", + "graspable": true, + "washable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.25331876330204667, + 0.41848980861212143, + 0.055363432500000004 + ] + }, + "size": [ + 0.35, + 0.55 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "max_size": [ + 0.35, + 0.45, + null + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_18/model.xml" + }, + "reset_region": { + "size": [ + 2.044136157066536, + 0.65 + ], + "offset": [ + 1.8279319214667322, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj2", + "obj_groups": "sponge", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.06873523019999997, + 0.08863954919999997, + 0.027029192399999992 + ] + }, + "size": [ + 0.2, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "sponge" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "size": [ + 2.785136157066536, + 0.65 + ], + "offset": [ + -1.4574319214667322, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, 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+ "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": 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"Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick the pan and sponge and place them into the sink. Then turn on the water.", + "fixture_refs": { + "sink": "sink_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2966178481565915, + -0.8378210949217528, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file