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"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" + }, + 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[ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014828449841116365, + 0.005111932346271247, + -0.12795030074512653 + ], + "size": [ + 0.5326169229840743, + 0.4244821215190956 + ], + "height": 0.2619627192387064, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + } + }, + { + "name": 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1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000014/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44bdbf7c65caee2faee4fa0a479314382d3e757b --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 35, + "style_id": 43, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "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/OpenOven/20250820/lerobot/extras/episode_000018/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dceb72663d5eedc55c67575e1c4d3cb94c840521 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 12, + "style_id": 50, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000024/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..770bd44d54c033d105f86c324ecf6f51259fe706 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 29, + "style_id": 38, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + "offset": [ + 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"gen_textures": {}, + "lang": "Open the oven door.", + "fixture_refs": { + "fxtr": "oven_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.001897115159814, + -4.682708454439772, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000027/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9b6337e4eb8caad2eef89ca2629e578f952d58 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,684 @@ +{ + "layout_id": 29, + "style_id": 51, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "size": [ + 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"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": "Open the oven door.", + "fixture_refs": { + "fxtr": "oven_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": { + 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-1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.00154444140433449, + 0.015034199064861836, + -0.13888790037735682 + ], + "size": [ + 0.5693182663888519, + 0.3902418363581404 + ], + "height": 0.13790049117621658, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_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_0/model.xml" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.12110807, + 0.17017862, + 0.1569531 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "reamer", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "reamer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer002/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + 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b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68056fd8b04f289de935621606d8ad0d45ae64ca --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 37, + "style_id": 54, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0017796784952502087, + 0.04094524423522826, + -0.15461829639471378 + ], + "size": [ 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1.064518358072746, + -3.5846845816383492, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000083/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc8c54f20ccab681f44c07a9158bc5740073ccb7 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,676 @@ +{ + "layout_id": 12, + "style_id": 14, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": 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"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": "Open the oven door.", + "fixture_refs": { + "fxtr": "oven_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": [ + 4.028677616701842, + -1.8787668761081056, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000084/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15721247f2cb9ead6152f1308f1c1e01bb7225a1 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 18, + "style_id": 53, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010894446941539515, + 0.0054378677266151, + -0.10155247078048042 + ], + "size": [ + 0.5243074901861565, + 0.5055596338129427 + ], + "height": 0.08900898560974109, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.100986012, + 0.142728, + 0.0357024 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000016/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ce5f84ee44c7a0fcb40d9209c2a7274bebfb21a --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 28, + "style_id": 27, + "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": [ + 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b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a684a2f13e394ad450da9977ef60128f28c569a7 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,465 @@ +{ + "layout_id": 55, + "style_id": 15, + "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_2/model.xml" + }, + "reset_region": { + "offset": [ + 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] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000029/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e0827870ae10b69d9b193062cbdf63b1c2db149d --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,528 @@ +{ + "layout_id": 53, + "style_id": 36, + "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", + 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}, + "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" + }, + 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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/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000046/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a067ef8c1e46ea444beb03b5397d5aa0cba2c74 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 46, + "style_id": 43, + "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_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.05660787308004373, + 0.021055372283998015, + -0.15146937431214566 + ], + "size": [ + 0.3580712770967947, + 0.28469228036429334 + ], + "height": 0.32978158917611655, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "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", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "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_14/model.xml" + }, + "reset_region": { + "size": [ + 0.999707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.014456, + 0.041804, + 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b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e053e83f3d34682931c00ef34ed7412885d4a872 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 57, + "style_id": 30, + "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_20/model.xml" + }, + "reset_region": { + "offset": [ + 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0000000000000000000000000000000000000000..dac33f7aa1c0a4ab73711ddbfbe208b6cfd32b6a --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,579 @@ +{ + "layout_id": 24, + "style_id": 42, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_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_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.07439206483098801, + 0.007718642389776528, + -0.17083210617889427 + ], + "size": [ + 0.363122011943057, + 0.28157987199265655 + ], + 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b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..784694f3234314a561919c70df3d1919f6450e9a --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 60, + "style_id": 49, + "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_12/model.xml" + }, + "reset_region": { + "offset": [ + 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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/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9cf0a8d32341006120536a6c2b2550dfcc471e4 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 42, + "style_id": 29, + "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": [ + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000096/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8630f30515d3333e716920f0006a93f4a3fba566 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,478 @@ +{ + "layout_id": 44, + "style_id": 60, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_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": 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--git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000099/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3971de9216dc924e4b30ae82518b4dfe5f0907a7 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 41, + "style_id": 59, + "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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a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000105/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9b1a52f8f7015bdf5c562ef5ea2dc6f1d806ce --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,619 @@ +{ + "layout_id": 29, + "style_id": 15, + "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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a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000106/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000106/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a77e2c766d358f4361fb667a1d784f8bfa83b851 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000106/ep_meta.json @@ -0,0 +1,619 @@ +{ + "layout_id": 29, + "style_id": 51, + "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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a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000108/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000108/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..293c00a1c47b2a305ad1c600fe0342dab79b36ff --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000108/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 40, + "style_id": 31, + "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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