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"cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "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" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "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": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": 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"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": [ + 5.140975419392371, + -2.311827113421369, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000069/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96a40b80a914d1c8a256cf922ae3543ffb78f2d3 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 0.5470704714618846, + 0.65 + ], + "offset": [ + -1.2264647642690578, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "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": { + 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0000000000000000000000000000000000000000..e2931a4c273e21162fb098f11ba53504253586b0 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.5670704714618844, + 0.65 + ], + "offset": [ 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..754dee37d333d6d99e0f74be8cf98d05b43c9a82 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7076410058352443, + -0.7762780239237741, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000128/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000128/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b72774d83231abadd59b29bf7a4244b66493bba --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000128/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": 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+ 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7149321515362541, + -0.7826065704576228, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000150/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000150/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5eaf22b6cee6c0007ce5cf6e13440e44718bf851 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000150/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000163/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2989ac1d2cc463e9e21d962220ba080d2edd11fe --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000163/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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0000000000000000000000000000000000000000..0ad56df425d6f6dd2b19cdf0f35250fd43292d7c --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000185/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + 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"try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "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" + }, + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000187/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7fee99ce76650526d975a83f146093515202f44 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000187/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000190/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9aa3425a3eec246d51c6147d04266f8af0ba6c02 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000190/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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"food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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": { + "cls": "WallAccessory" + }, + "untensil_rack_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" + }, + "sink_left_group": { + "cls": "Sink" 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0000000000000000000000000000000000000000..e5991711513be20e7d1fefbb613a335f2a4ddee4 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000209/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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": 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.091051372015988, + -1.8286143263995396, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000219/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000219/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3945241485583cc6cc6ba833f4da46fd819ad7ab --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000219/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": 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"vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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" + }, + 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+ }, + "gen_textures": {}, + "lang": "Wash the lettuce in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_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": [ + 3.14360314252371, + -0.810161915474446, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000227/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000227/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..934bf586a1b4e285295e86c712a2763b1dd95e0e --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000227/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "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": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000237/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d3d4b35c77ae2c07225af2155a2ee34a6b16018 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000237/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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+ "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wash the lettuce in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_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": [ + 2.981753176574776, + -0.8438261815460127, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000257/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000257/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6511bea324ddc5763edb12850071315315d6490 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000257/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 0.5470704714618846, + 0.65 + ], + "offset": [ + -1.2264647642690578, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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": { + "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": 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"Accessory" + } + }, + "gen_textures": {}, + "lang": "Wash the lettuce in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_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": [ + 1.8145303505998003, + -0.7530463486172744, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000266/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000266/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13fa1b32a624aaa94743733f91222178fd900687 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000266/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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": { + "cls": "WallAccessory" + }, + "untensil_rack_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" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "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" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000278/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d42106e056fa6cbf200bf5768b1930f78bc09924 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000278/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000286/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000286/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a29720a761ee7b090f465a8ab9ce5644000900cb --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000286/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_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" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000322/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecc949a03157b91e32e1c3cd6873f78e2b9d23ea --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000322/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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"robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2507328746832815, + -1.837735532939421, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000342/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000342/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2f9acd20b069fa127ac4e24a2828412dfb8e553 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000342/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.1100000000000003, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "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": "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" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + 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in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_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": [ + 3.6335260238841203, + -1.1388568599900823, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000351/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000351/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2861831556d67187d6477b61036c72ed305f18e9 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000351/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000360/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000360/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d68fd480244baf0f0b82b90d589f8a5b4a47a13 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000360/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + 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+ 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000376/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000376/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45026d5adb7316fe7fef2d200d249490a003e0c0 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000376/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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+ "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "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": 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000385/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a7d7139a36076711072bd7ac6c0cb8fef1e96f --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000385/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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"lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + -0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000427/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..806a02067973ed90cc1b2114a3ad88388fdab719 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000427/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000433/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } 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--git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000482/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000482/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22b31ee0bcb6f4ec64f3cd8b3a439f1817309fd5 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000482/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": 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file mode 100644 index 0000000000000000000000000000000000000000..b1ff715dedf83a1abed0400f49cca525c3d61eb9 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000490/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, 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}, + "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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