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a/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35da520faf1d9245bece371cf7c02f2a3dbc6f6a --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,509 @@ +{ + "layout_id": 15, + "style_id": 20, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + 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a/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..602be81a8ea045505d1839df7f145405068b59af --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 52, + "style_id": 31, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_18/model.xml" + }, + "reset_region": { + 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a/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caa5678fa0f5d38ea74030672023fddc76541165 --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 57, + "style_id": 58, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_3/model.xml" + }, + 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a/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37434ed345d2161b34acf7f5b342ef51ccb53f25 --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 18, + "style_id": 58, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, 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--git a/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38037402773ee65ace77bb3fad6adc1ac58b8596 --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 41, + "style_id": 33, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + 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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/CloseCabinet/20250819/lerobot/extras/episode_000063/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef0d3c18a21c8c9fb779e00ae2dd5580879cb75 --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 30, + "style_id": 54, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_5_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "train", + "mjcf_path": 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"layout_id": 15, + "style_id": 12, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "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_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "cab_2_front_group_1", + "min_size": [ + 0.08982056, + 0.08982056, + 0.19973605 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + 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a/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..746b0fedf546ad66b3372f74825b6f7724426db9 --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 39, + "style_id": 13, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "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_10/model.xml" + }, + "reset_region": { + "offset": [ + 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--git a/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58d42d022b3eb78ee759a1d27ab7e54352b84fff --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 20, + "style_id": 46, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + 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a/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/ep_meta.json b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..360aae8245131f3c565cb6f6ac090d295c40b448 --- /dev/null +++ b/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 22, + "style_id": 18, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + 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b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 12, + "style_id": 60, + "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_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" + 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newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05147ec153fcdb0f2d059c128b24db6c79dd653a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 36, + "style_id": 34, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.04238956, + 0.08399682, + 0.040738579999999996 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", 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+ ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.489716306261429, + -1.4602405063815298, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000019/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd4212a1c0eecc457bb27a3d37fc148a7c80aba --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 19, + "style_id": 34, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.833307434771239, + -2.938590995097761, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000021/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68d45c977cdff14d3c2bd28f9f26c5c8ba212b4e --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 55, + "style_id": 53, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": 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a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000023/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7e999ed1ece97f789b18cd13bdd7abc9a04c776 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 34, + "style_id": 49, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.0996603576661762, + 0.21908139565469228, + 0.07186802448511127 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + 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b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 40, + "style_id": 21, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_right_group_1", + "min_size": [ + 0.3203616, + 0.2636208, + 0.131408928 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "all" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml" + }, + "reset_region": { + "size": [ + 0.4001999999999999, + 0.65 + ], + "offset": [ + -1.0174, + -3.469446951953614e-17, + 0.46 + ], + "name": 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}, + "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": [ + 2.8761462085394, + -0.7751424595321874, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000038/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..900b3556594fea598b65978224e260dc35f5775e --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 51, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_4_right_group_1", + 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0000000000000000000000000000000000000000..1369ab056fc66a79e1b3c996c933aee84506bb74 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,417 @@ +{ + "layout_id": 40, + "style_id": 49, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.06297735599999996, + 0.06132000479999996, + 0.12128616599999992 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "drink", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_3/model.xml" + }, + 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at end of file diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000041/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a54de04814fac7cbc350fad0fdc48efbb3cb436 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 46, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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+++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 29, + "style_id": 21, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.061841039400000006, + 0.05930947008000001, + 0.06300000000000001 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_22/model.xml" + }, + "reset_region": { + "size": [ + 1.330876504980079, + 0.65 + ], + "offset": [ + 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--git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000047/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc6bdb6d1d6cadd693e540a03850a444fff7aeea --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 52, + "style_id": 14, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_5_right_group_1", + "min_size": [ + 0.342302, + 0.055938, + 0.055938 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + 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0000000000000000000000000000000000000000..634a1999442fe7d923ffae01c975eac14aa57671 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 16, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + 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a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000055/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3878616741b5f51e40c61040801f1cb8d66598e6 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,517 @@ +{ + "layout_id": 26, + "style_id": 21, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.09409858425, + 0.16974980325000003, + 0.15440791893750003 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "teapot", + "receptacle" + ], + 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0.9783307750818258, + -0.8044470939257573, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000065/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1335ca5ba5cddb883bd05ac21230556ca64d025a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 14, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.080576795, + 0.080843659, + 0.11237439199999999 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + 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a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000091/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c1feffd9264424b052c496f007fc5ea9185d3f1 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 27, + "style_id": 27, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.05008684976000001, + 0.06676906400000002, + 0.049948666280000005 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + 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b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e98e80030ebf388634b6c8b49b757c53891531e --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 15, + "style_id": 54, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.06894516819948983, + 0.09886159258426871, + 0.041519637841324904 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000098/ep_meta.json b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53b732b849499c87c06889f1f9b36e9eeaab99a3 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,593 @@ +{ + "layout_id": 20, + "style_id": 54, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "all", + "exclude_obj_groups": null, + "graspable": true, + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_5_main_group", + "min_size": [ + 0.09099378000000001, + 0.194397381, + 0.015302610000000001 + ] + }, + "size": [ + 0.6, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" 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