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+ "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "center" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + 2.8375837149896393e-05, + 0.021287205643521784, + 0.003662449837073436 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "center" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.23414749974000007, + 0.23450000112000008, + 0.031500000840000014 + ] + }, + "pos": [ + 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"Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8195218786278977, + -1.9687114462703752, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "center" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba707aca4cbb1cdc4d94def4b526dd6a30b1f083 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,637 @@ +{ + "layout_id": 39, + "style_id": 38, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_island_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.13178297413314466, + -0.02013347511727076, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_island_group_1", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 0.024499998600000007 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.025, + 1.3 + ], + "offset": [ + 0.7874999999999999, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + } + } + ], + "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" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_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" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "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": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "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 up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_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": [ + 3.8630625629088398, + -3.6224573596952534, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_left" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2a6a02fd425de44519e6be4164a4dc13cef9368 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,418 @@ +{ + "layout_id": 55, + "style_id": 13, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.17373775486404966, + 0.1579176201008437, + 0.45199208881856817 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 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{ + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + 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+ "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.20040836621335217, + 0.20656003839191814, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2359663752600001, + 0.23449999188000006, + 0.03499999965 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.6161792843791434, + 0.65 + ], + "offset": [ + 0.7797113578104284, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": 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"cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_main_group_1", + "counter": "counter_2_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, + 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"placement": { + "fixture": "stove_front_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.18491186256157666, + 0.14018190997303742, + 0.3066376428402726 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_front_group", + "loc": "left_right", + "min_size": [ + 0.2359663752600001, + 0.23449999188000006, + 0.03499999965 + ] + }, + "pos": [ + "ref", + 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"/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + 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"pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 2.215707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": 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+ "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.1486764208862963, + 0.16577926657652714, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.23414749974000007, + 0.23450000112000008, + 0.031500000840000014 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.475, + 0.65 + ], + "offset": [ + -1.0125, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + 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}, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + 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"gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.16201663100420535, + -4.3360068646939345, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_right" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..debe6567ad022a7bf925c6b2a08a89b45a694c03 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 20, + "style_id": 58, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.29448728599192897, + 0.2146981632324575, + 0.45524094270582643 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group", + "loc": "left_right", + "min_size": [ + 0.23290678950000007, + 0.23449999650000009, + 0.013999999860000004 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 1.312, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_main_group", + "counter": "counter_2_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": [ + 2.4341059535753633, + -0.9364218142579914, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_right" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82db07d1f95c90cddb5f51e7711622f6a9b57c85 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 14, + "style_id": 59, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2561933150178933, + -0.12491627813324865, + 0.47018691497155635 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23414749974000007, + 0.23450000112000008, + 0.031500000840000014 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.085, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + } + } + ], + "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" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_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": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_main_group_1", + "counter": "counter_2_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": [ + 2.9730795299787833, + -0.9070574802890033, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_left" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..066d94b9fd5a4776d90199ed7897d132cc8c68f3 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 59, + "style_id": 12, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "widestove_main_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2639361042517453, + 0.15454744163682288, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "widestove_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23290678950000007, + 0.23449999650000009, + 0.013999999860000004 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 2.061065, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_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_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + 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+ "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.2622214565724022, + 0.15458496882545458, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group", + "loc": "left_right", + "min_size": [ + 0.23290678950000007, + 0.23449999650000009, + 0.013999999860000004 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 3.219, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + 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+ "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.15509513602728112, + 0.1346580744333919, + 0.020677267972846806 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_island_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 0.024499998600000007 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.550808121740107, + 0.65 + ], + "offset": [ + 1.0935959391299461, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml" + } + } + ], + "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" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_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": [ + 3.2010985552562277, + -1.7141184442179582, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "rear_left" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ebea7ff32c77341ba2c5029848755666cd1d5c7e --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 51, + "style_id": 26, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.1697292733598175, + -0.09055386345125134, + 0.4619347540804282 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23290678950000007, + 0.23449999650000009, + 0.013999999860000004 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 1.5660753859761807, + 0.65 + ], + "offset": [ + 0.8047633070119098, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "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": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_main_group_1", + "counter": "counter_2_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": [ + 6.150080467452162, + -0.9113824319168855, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "refs": { + "knob": "front_right" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a846359acb768ff0859c7267c6d79ecf82577682 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 32, + "style_id": 28, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "widestove_right_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.28915312362904877, + 0.19777307900980082, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "widestove_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23414749974000007, + 0.23450000112000008, + 0.031500000840000014 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.600005, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + 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Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "widestove_right_group_1", + "counter": "counter_1_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, + 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": [ + 3.4815343861014783, + -1.7917572481120951, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_left" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d451b9edc2305f8407ec18db8ebf7d77eab1ff18 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 53, + "style_id": 35, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_right_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.18976571040382365, + -0.09795662966306808, + 0.45384256111761867 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_4_right_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 0.024499998600000007 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.09786, + 0.650027 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + } + } + ], + "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" + }, + 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+ }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + 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Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_right_group_1", + "counter": "counter_4_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, + 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": [ + 4.86240942139923, + -3.4164109537475817, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "refs": { + "knob": "front_right" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..49f989383be6bcb2555281db723499d7f4d5535c --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,490 @@ +{ + "layout_id": 27, + "style_id": 13, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_front_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1593645531319272, + -0.09422443449506909, + 0.4519895418255599 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_front_group", + "loc": "left_right", + "min_size": [ + 0.23414749974000007, + 0.23450000112000008, + 0.031500000840000014 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.989, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "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": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_front_group", + "counter": "counter_1_front_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": [ + 3.061228339648081, + -1.9854148050073566, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "front_right" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f119a00a83a743b7714b5d886ac58cf2b1cd0db --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 51, + "style_id": 49, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.14622969063819963, + 0.18435478552930595, + 0.46313426675014535 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group_1", + "loc": "left_right", + "min_size": [ + 0.23414749974000007, + 0.23450000112000008, + 0.031500000840000014 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3568491600000003, + 0.65 + ], + "offset": [ + 0.9093764200000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "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" + }, + 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"stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_main_group_1", + "counter": "counter_2_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, + 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"placement": { + "fixture": "stove_left_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.14749302765904157, + -0.08274024767106936, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_left_group_1", + "loc": "left_right", + "min_size": [ + 0.23290678950000007, + 0.23449999650000009, + 0.013999999860000004 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 0.542002, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": 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"pan", + "placement": { + "fixture": "stove_island_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.152314520534465, + 0.1282717267511925, + 0.3066376428402726 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_2_island_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_island_group_1", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 0.024499998600000007 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "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_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": 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{ + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_island_group_1", + "counter": "island_2_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": [ + 3.7263765817930348, + -2.094207840495465, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122376720160215 + ], + "refs": { + "knob": "rear_left" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..56a5852f70e43d9a63cbab74159490dbef47e711 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,418 @@ +{ + "layout_id": 55, + "style_id": 60, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.20074877808322203, + -0.06912926694207545, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2359663752600001, + 0.23449999188000006, + 0.03499999965 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + } + } + ], + "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" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": 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Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_main_group_1", + "counter": "counter_2_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": [ + 3.3996528642652786, + -0.9770116854544895, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "knob": "front_left" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d61fa236252bb4ec5e8e1b74be8be864e8ea0a14 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 38, + "style_id": 55, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_left_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.14636090221691678, + -0.09510533194069311, + 0.4631342364656341 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_left_group_1", + "loc": "left_right", + "min_size": [ + 0.2359663752600001, + 0.23449999188000006, + 0.03499999965 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + } + } + ], + "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_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + 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Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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+ "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1486764208862963, + 0.16577926657652714, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.2359663752600001, + 0.23449999188000006, + 0.03499999965 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0588000000000002, + 0.65 + ], + "offset": [ + -0.7530999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": 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Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_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, + 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, + 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"pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_island_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.288964293180445, + -0.016386313226351992, + 0.022934635332920957 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_island_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_island_group", + "loc": "left_right", + "min_size": [ + 0.23414749974000007, + 0.23450000112000008, + 0.031500000840000014 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4289948858441017, + 0.65 + ], + "offset": [ + 1.1545025570779488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml" + } + } + ], + "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" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_island_group", + "counter": "counter_1_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": [ + 2.9746398878563585, + -1.71730758200466, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "front_left" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9da299dd8ddd2b58a40affa35a64b835ce928a9a --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,490 @@ +{ + "layout_id": 42, + "style_id": 13, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_right_group_1", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.16750260008232332, + 0.13065661838447715, + 0.010447450100023575 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 0.024499998600000007 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.890287837300038, + 0.65 + ], + "offset": [ + 0.837356081349981, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + 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}, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_right_group_1", + "counter": "counter_1_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, + 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": [ + 4.383773966270824, + -1.8642271861027846, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_right" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d1a56bb863b3987383d919b16ab9099debf9a3d --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 12, + "style_id": 25, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.21471246392874302, + 0.12074257670852313, + 0.0087095887489308 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 0.024499998600000007 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8749433326264595, + 0.65 + ], + "offset": [ + -0.7875283336867703, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_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" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8090493667888125, + -1.8892249907173346, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_left" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5dd0306052394eb350385920e04099afd405ae9 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 23, + "style_id": 58, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_center" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.008302302699179798, + -0.15179929646351714, + 0.45655321592729736 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_left_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_left_group", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 0.024499998600000007 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.706, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml" + } + } + ], + "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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "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_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stove_left_group", + "counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9132732793457995, + -2.331130059460069, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "front_center" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..355d05315da808089da127cde05481923701de34 --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 29, + "style_id": 30, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stovetop_left_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.29196154434359006, + 0.12771406992180798, + 0.019846137663032306 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stovetop_left_group", + "loc": "left_right", + "min_size": [ + 0.23290678950000007, + 0.23449999650000009, + 0.013999999860000004 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2838422152651123, + 0.65 + ], + "offset": [ + -1.1080788923674438, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.", + "fixture_refs": { + "stove": "stovetop_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.14073355967259998, + -4.149225615419003, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_right" + } +} \ No newline at end of file diff --git a/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000107/ep_meta.json b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000107/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d092ef955457b8e27860ba57a81c3eb7989fd9cc --- /dev/null +++ b/pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000107/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 20, + "style_id": 31, + "object_cfgs": [ + { + "name": "pan", + "obj_groups": "pan", + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "size": [ + 0.05, + 0.05 + ] + }, + "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/aigen_objs/pan/pan_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.28911358575882123, + -0.09280529924552389, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + }, + { + "name": "butter_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.35, + 0.35 + ], + "sample_region_kwargs": { + "ref": "stove_main_group", + "loc": "left_right", + "min_size": [ + 0.23488067988000005, + 0.23449999650000009, + 0.024499998600000007 + ] + }, + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.27, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "butter", + "obj_groups": "butter_stick", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "butter_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "butter_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "butter_stick" + ], + "cat": "butter_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + 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"name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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"HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_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": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "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_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_4_main_group", + "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": 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diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8544a6153c54fedb8b77f3e46b16322a30ec80f --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,597 @@ +{ + "layout_id": 55, + "style_id": 42, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18374328279000005, + 0.1837431104625, + 0.020144425410000003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + 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newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce78f3fa7835d2806aff05ed14a47c551c21695f --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,661 @@ +{ + "layout_id": 53, + "style_id": 55, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + 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"cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "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" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + 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and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_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": 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/dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,645 @@ +{ + "layout_id": 60, + "style_id": 54, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "counter_5_left_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 3.383407894556147, + 0.394049 + ], + "offset": [ + -0.08336505272192651, + 0.0, + 0.591655 + ], + "name": "geom_0" + } + }, + { 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}, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "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": 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+ ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea28778165de83ce76af08fab3a48fde7f5ecb15 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,671 @@ +{ + "layout_id": 31, + "style_id": 30, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + 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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.065, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.065, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_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": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "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" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "cabinet": "cab_3_main_group", + "dining_counter": "dining_dining_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0573749277013365, + -0.8403645138240411, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file