diff --git a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000003/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cd21120ebf19b09c7239a29370661b74b3dd16e --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,414 @@ +{ + "layout_id": 59, + "style_id": 26, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + }, + "reset_region": { + "offset": [ + 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+ "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.18441001973532897, + 0.08801682441627298, + 0.4998090354776954 + ], + "size": [ + 0.3191397223640772, + 0.4709333179928961 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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mode 100644 index 0000000000000000000000000000000000000000..97ccac9c85fad943ef367aee1b282f6d19a38172 --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,370 @@ +{ + "layout_id": 34, + "style_id": 36, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mayonnaise", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mayonnaise", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise003/model.xml" + }, + "reset_region": { + "offset": [ + 0.002018864983774654, + 0.08983484301916607, + 0.23421548026024583 + ], + "size": [ + 0.7120078257798343, + 0.5191647162933378 + ], + "name": "fridge_shelf0" + } + }, + { + "name": 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a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000000/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12d4f172a8ff5b57a8933ae0f1758cbd8756b066 --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,325 @@ +{ + "layout_id": 32, + "style_id": 29, + "object_cfgs": [], + "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" + }, + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000001/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05c4054f43a9d1b13d92acbb4cdd099a3c5ea3c2 --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,367 @@ +{ + "layout_id": 13, + "style_id": 29, + "object_cfgs": [], + "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": { + 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{ + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.134437822966891, + -0.7967675978765998, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000002/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e9254e5116f814f92f798ddbc99cdd3f5d41d9b --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,352 @@ +{ + "layout_id": 47, + "style_id": 32, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + 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0000000000000000000000000000000000000000..ed580f1f25755e86b9855ba6d0cd4011a8897c40 --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,346 @@ +{ + "layout_id": 48, + "style_id": 39, + "object_cfgs": [], + "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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": 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--- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 21, + "style_id": 18, + "object_cfgs": [], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + 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"box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Press the button to open the lid of the electric kettle.", + "fixture_refs": { + "electric_kettle": "electric_kettle_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": [ + 2.8283670646362493, + -4.331906618257249, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5707957029303028 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bf340f94551caa4ea047cd7566f8dc30c59fbd6b --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 20, + "style_id": 38, + "object_cfgs": [], + "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": 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"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": [ + 0.7702590931816551, + -2.85509814664518, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000024/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce2849e58134719a0ba580099f48ac48d8bfdb5 --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,400 @@ +{ + "layout_id": 24, + "style_id": 34, + "object_cfgs": [], + "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": { 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{ + "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_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "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": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000025/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe7a3dc857a4a6d6ee1236e6a612aae2c17239a --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,346 @@ +{ + "layout_id": 48, + "style_id": 18, + "object_cfgs": [], + "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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + 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b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,400 @@ +{ + "layout_id": 24, + "style_id": 29, + "object_cfgs": [], + "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": { 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--git a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000059/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e42c40fc6a15aebe437f07f302a93a31f0766e --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,505 @@ +{ + "layout_id": 39, + "style_id": 55, + "object_cfgs": [], + "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" + }, 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{ + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Press the button to open the lid of the electric kettle.", + "fixture_refs": { + "electric_kettle": "electric_kettle_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": [ + 2.3069551874735548, + -0.8329362571114993, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000062/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4900b4633ade6652423826d8814d62dc354ae06a --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,373 @@ +{ 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a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000066/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3a949158d23d7f6632f5b8e900f885d0bb7fafd --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,367 @@ +{ + "layout_id": 13, + "style_id": 12, + "object_cfgs": [], + "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" + }, 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--git a/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000087/ep_meta.json b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc299c4c0ecb5b40f668b8d320eca70cc0c82d59 --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,349 @@ +{ + "layout_id": 53, + "style_id": 24, + "object_cfgs": [], + "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" + 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b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..149f697360028226e1c0d7a90fc8ff7a6dcb2596 --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,310 @@ +{ + "layout_id": 58, + "style_id": 20, + "object_cfgs": [], + "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" + }, + 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0000000000000000000000000000000000000000..5ae1753e0670ca464305eb367f65e865b85afa62 --- /dev/null +++ b/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 15, + "style_id": 42, + "object_cfgs": [], + "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" + }, + "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_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + 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a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000003/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b3280aae0e7105bdb89045e7627bbaf829a65f --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 28, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000004/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5084cb26cc1f73c75070f0d7afd28d91ab843ff2 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,417 @@ +{ + "layout_id": 19, + "style_id": 32, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_3", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + 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a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000016/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..963e191b7930805a56cb728e327054479203ec33 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 29, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..43a100cd88a6a3c4ed2a822982fda8d0087d4b02 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,362 @@ +{ + "layout_id": 32, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.07559013892678133, + 0.04242256882320486, + -0.1915511089972964 + ], + "size": [ + 0.3858221833587978, + 0.37692979564096074 + ], + "height": 0.3851442019075586, + "name": "tray" + } + } + ], + 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{ + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + 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@@ +{ + "layout_id": 48, + "style_id": 27, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005147692477039112, + 0.013495296321316227, + -0.1479454202909003 + ], + "size": [ + 0.2688657705493946, + 0.33885853689603507 + ], + "height": 0.3067419058872784, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "all", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + 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0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.446026336222947, + -5.247762073845689, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000029/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6477175096ddc6002152fbcd9943c4c9d1d17d61 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,398 @@ +{ + "layout_id": 31, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": 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0000000000000000000000000000000000000000..f4277c22d13c0ed86c7a455567858b0a2bc4a89c --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 28, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.07763522066297633, + -0.0027137561555638234, + -0.16000867060571686 + ], + "size": [ + 0.4123646134194525, + 0.3023457928893496 + ], + "height": 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0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0356238133412474, + -0.943101504157344, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000036/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be92f35a99fabf08171279a40cdf8f61a726ab9c --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 18, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.062253355892267034, + 0.008058781675137558, + -0.16663067976124954 + ], + "size": [ + 0.41438653749975474, + 0.38205868093999684 + ], + "height": 0.34259020441416727, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "all", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + } + ], + "fixtures": { + "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_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + 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{ + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_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": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + 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"pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.46944889732822637, + -1.0807690450291225, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000037/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97fa93a71f60bcdd4269ee5994e1ce3ac5b33b96 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,417 @@ +{ + "layout_id": 57, + "style_id": 57, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "offset": [ + -0.07738100668293346, + 0.02204376277375779, + -0.16603893702054998 + ], + "size": [ + 0.36310314153429024, + 0.2977680461941824 + ], + "height": 0.34289615381645205, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "all", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/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_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, 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a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000049/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b53c2e1f76612bfe71deba04e0ebb767276d6417 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 22, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_front_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": 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+ 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000050/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1355743f4dd4eaaa1ef0fd6850a4e5bbd2544dfe --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 19, + "style_id": 47, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_3", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + 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No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000052/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87ccadf78f94373f26de0b364a927659fd154939 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,395 @@ +{ + "layout_id": 32, + "style_id": 49, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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+} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000066/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51a5a00610ae0544c2bcc1092cfc1f61d716c898 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,511 @@ +{ + "layout_id": 12, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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+} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000088/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a41100be9f333d403a09faf8c7e685ea8d2b3177 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,377 @@ +{ + "layout_id": 41, + "style_id": 20, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000089/ep_meta.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb0842126170541afc10462e55d6079bf246f61 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 49, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "plate", + "split": "train", 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at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/meta/embodiment.json b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/meta/episodes.jsonl b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bea033aee8941189467edb8c3796f3d1c893df29 --- /dev/null +++ b/pretrain/atomic/TurnOffMicrowave/20250819/lerobot/meta/episodes.jsonl @@ -0,0 +1,108 @@ 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