diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000000/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..328eaddaab8af3c9ca32ba637845b696848dd81e --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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/dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", 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"cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.948932124877929, + -1.8480079040155954, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000004/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..adf469ac13fdda5dd5200c251f0cd78e91e21fb0 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2269372597860015, + -0.9310035689473158, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000007/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fe5cd524dbecbca8a082721696d3acbcf636c99 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.962562300558109, + -2.5770799542378016, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000008/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62c608221d4e2c40eb74e949bad38eead88ec12b --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.284130462539618, + -0.9294785532141026, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000010/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3dd147830caa9d5f3c2acbb5f25954b293d51f22 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9346315194981148, + -2.1105218983441127, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000011/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a387ccf5aab4d4875745c666e2f08da825897508 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + 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"oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.004558803578477, + -0.9990843301164045, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000014/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3aa740896002571a8416300e7eb80e8d73ef78c9 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000022/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e7cf05b567253f97b13669594ab54e5c04033e --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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"cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": 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"lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.903349122875462, + -1.9974959424705816, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000024/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b638d3beaa0ce57b58d3c774a3a7d77e3aa54b1 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + 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"stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9363321252956374, + -2.151937412773495, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000025/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..69cdb9295b9182474e01426cb704df88041bbc6e --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + 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+ "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + 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--git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000028/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d33e949bd55d39ead10b571d3065965794cf4b3e --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000032/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89bb23e3c5c3656c2fca022c0bc9587763bae660 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": 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"cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 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} + }, + "init_robot_base_pos": [ + 3.08058649747166, + -0.9803195166317221, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000033/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f40b7596b5b1334a4f19a3e290d4d0f0b765d30d --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + 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"cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ffa0c517341bf4bd41b0a01614be0a9f92eec83b --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.72293667790971, + -0.9433293027331623, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000044/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c561f022999d40cc526f759f8ad14137c91fbb3b --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] 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--git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000056/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64116a2e43bbdfabeea1c533b25de6e636453c4c --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000059/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1be856be8e169f1428e9cbfd7c26e7bbe528e0a2 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000063/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..728f6ef689624ee71e4508dd7665bce63b16be0f --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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}, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + 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"HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.9018401946752315, + -1.927966598003852, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000069/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70829a329e126f1ed244597782c88d6a19d8bc90 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": 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"stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9749041108430108, + -2.1057399590058097, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000071/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..901a83dfd789aff28d9e6b8841697b01d2e914cb --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": 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"Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000072/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bd9f3810ef9fcacf59abc305fafdc083ba35a77 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, 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"cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9886478419407998, + -3.221982276070117, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000073/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e18a98435ecafddfb41afe9b78c36761c31a2eb --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": 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"Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9333719477593609, + -2.1651912865432505, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000074/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0107bfb78bf7fdad0344946add9a6dbd7f1dc6c6 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": 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+ ], + "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": [ + 1.9376551913827382, + -0.9003805269074387, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000075/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64600d8eefbd196f4b7e65cd24865a55db3bb577 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000076/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ffe87314249db6deebf1069d0e6eed774fcb4939 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + 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+ 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.989623657048121, + -1.979774461238867, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000080/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f8cd1e5e1bfee660a84d35721e2c582ad3dd42 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": 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+ "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11999818679999995, + 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}, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + 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"pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37f51fcac1cc98366fede7cea2bfc6fb5300420b --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000099/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bcd5bae2bc8c103fe489beba08d9104b24abd28c --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", 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0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + 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+ "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.41464001451089, + -0.9491784639040762, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000101/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a45a04da6b7457d272f6e906b3bda6743dafa8 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000110/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + 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--git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000111/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000111/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7fc504c8e382d3e1b964e2ab62fd7ed09eb2f95 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000111/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000115/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000115/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..847bcc8d4155b69e38e30f0e073d4f923537de51 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000115/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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"placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 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{ + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": 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\ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000138/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000138/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2cc68b6e77d6243fb99d0ac8d6d0d00661c49dfb --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000138/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + 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"lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9458216947260347, + -3.5417928511170453, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000141/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000141/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..806d13b48da56a04021feacd4f6fad20d2368b38 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000141/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + 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file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000143/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000143/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ab8085a31afd19402109126a35b0302f776c0e2 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000143/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], 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"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": [ + 1.5182658949857324, + -0.9563885209978625, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000145/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000145/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da229d345980061fc9ac4d363532e9ae64856530 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000145/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_main_group": { + "cls": 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up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1378199024922533, + -0.960840432846571, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000148/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000148/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b773071151453316ef21cbd623dbdf238ba5588 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000148/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9120297771229136, + -2.0414802707040365, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000149/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000149/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8bfef8129cef36161652da32bf606bfe8a5c8d5 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000149/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": 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"fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0294441091086513, + -0.9772905909934695, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000150/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000150/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0475c3246839290c46be782761856c28b0c744a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000150/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000155/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + 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+ 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.9120220940121335, + -1.971503326017296, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000156/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000156/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f084f982740bc9a63ce55d973344e7baf6ecefa0 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000156/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + 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"cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000157/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e1667be13f9cb4ef2ca9de76f487476d40e437e --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000157/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": 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"dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9757367771135548, + -2.580061398385583, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000164/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000164/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f17ffe8527fac06416e8adabd48f9ce5976e631 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000164/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + 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"glass_cup_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_3_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.522192448005958, + -0.9685216582293793, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000165/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000165/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c675f2e63306c7885254a50279342a50e7b78a25 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000165/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" 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}, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.225240687692241, + -0.9443112437714553, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000166/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000166/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a29b03dc7295fcf37405f93faf2d3618ea213ea5 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000166/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + 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{ + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000168/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71bb0d735bc834c5de5f877d626606ca3a090661 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000168/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": 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"fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + 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+ ], + "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": [ + 0.9277060532803799, + -2.42461483600288, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000180/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000180/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7e3f28929f9f25042a49789fa6e6ec124cfa71 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000180/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": 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"cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + 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"dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9823124801806261, + -3.382621139171686, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000186/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000186/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a784f79cc973b1d743ff4eb5fb6b4a9fe13b0618 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000186/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000187/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000187/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b66585b7e04c398e5fde5e54734939d3cc6cf5a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000187/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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"stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.984753119699246, + -1.8715889729353752, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000190/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000190/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e675840c8661c0485f9e8340d6ca4e0bcb3a339d --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000190/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + 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"Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9489954209904462, + -3.63578734545945, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000192/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000192/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b82e36b4cf8370ec998cca137719ee86f0b7b0b2 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000192/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" 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--git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000197/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000197/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54f53d2f73dc63e05e6ffb8574141111a09283cb --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000197/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000208/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000208/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a2aaa2c32ea8e5d213b8f330881b9065fd436a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000208/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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+{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": 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+ "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000215/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000215/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c8815609f7f654543860ca1869e50cc346501e0 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000215/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", 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dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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0000000000000000000000000000000000000000..981a4879f57ed9064bb96ea8b46bff9bc158a9eb --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000218/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + 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{ + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000228/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000228/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1eeddb0f6f625e7f02a0406460994481d11115c0 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000228/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", 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dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.6941379042770954, + -0.9996911981352496, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000235/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000235/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef072692a9839494f5aeb6951a5d09926990237b --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000235/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + 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"fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9915448392722876, + -2.484167448111255, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000238/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000238/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5af334bf30fe9f80be61f88fc1245c077f555396 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000238/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": 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"dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + 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-2.0438484236099974, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000240/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000240/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23a45816c63f290988ef15525e8264bb9a51ab69 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000240/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000241/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..656b611b6b23dd55e705db7da808130d60b6feed --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000241/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": 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] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": 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"light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + 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"stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.9211095532324345, + -1.8887046675445052, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000249/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000249/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..188a0f890a93ffa5e9bf2f0e3ebd5f1d297dc93b --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000249/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + 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"soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8038660210258823, + -0.9971978435875515, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000251/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000251/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8846d6cdcfcb26bb781a140cc374f2dc67cbcb9 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000251/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000252/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000252/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c73d52f5306640c9a2664fa442599ddb7528e9f6 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000252/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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-2.0930820876861103, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000255/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000255/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1624186be519ebec0862ee7329e63ad86ee53517 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000255/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000256/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f3a0e2274286b14c286bb50c3ece60ce45748a3 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000256/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000258/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000258/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ffbd35fa7bbe1710ddb8d6787904ac8d594d727 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000258/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": 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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": [ + 3.2374895876453, + -0.9017424494349903, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000260/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000260/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a91b0f3f5f16ad7ebe2bc93a104258cd1ab7e51a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000260/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + 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"outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000261/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9783409800573761, + -3.3409289534466398, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000271/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000271/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0f798e82ee601d99e5e8a5a05510e013b1ad74 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000271/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": 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+ 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000274/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000274/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84cc0eda738508542e2859db25a194d6b8e780ae --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000274/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + 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0000000000000000000000000000000000000000..0c5b4ac24d6fa6bdc4d5689b4d4b197d693d76ca --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000276/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 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0000000000000000000000000000000000000000..34cb49678c0ba384a63cce5f0e7a36c96b528b87 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000283/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, 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+ }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1906529745945447, + -0.9790936486727257, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000290/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000290/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7fbabe25ed8cf3b1a8496bf8e250cd9d70eee72c --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000290/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + 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in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9056128744145885, + -2.122788616322006, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000291/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000291/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b77842c113768633d397acfbf39e4651f200205 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000291/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + 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"fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9396544534175889, + -3.542294318020575, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000292/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000292/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..194dc002f24a4ed01233fcf6992f371fffe7cd80 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000292/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": 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"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": [ + 0.9343401528174285, + -3.608015454657975, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000293/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000293/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dad2ae394a8b75029bc858559d5c489ffab602a2 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000293/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + 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"groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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"stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + 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"stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9788345178650383, + -3.321473906435997, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000295/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000295/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..857f7abd41c12df9e99efec8aead91bb618f6eb8 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000295/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + 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"soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000298/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000298/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61ca4409ac54a72caaed21ed132a1d1eef076d72 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000298/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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}, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + 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--git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000317/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000317/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fdaccba28211b14492a92f15b10cda5a20cb7bc --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000317/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000318/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + 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+ "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { 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"counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 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0000000000000000000000000000000000000000..aab93d871b118be5ff6e44a033d1c2449686ab14 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000322/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + 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"soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + 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}, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 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--git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000323/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000323/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9007fe6ebdc8828e7ffefeb07e023855e7ada901 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000323/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000325/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + 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"pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000330/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..886171e2a026523d101ce3e66e5e9eca58a54d53 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000330/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000334/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000334/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9ae07356349075043ee4314751b9e6b51075660 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000334/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + 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/dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000337/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", 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"salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": 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the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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"placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + 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"cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, 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\ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000355/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000355/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47ba7a69c14581b5fa229c411bb2ab946d24b36f --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000355/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": 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"soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.975154137969346, + -2.473357189080022, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000356/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000356/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c68773c3016f18d0806e64a760e602bd25e26a5 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000356/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, 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"camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9276891243451673, + -3.5154496813175307, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000357/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000357/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2edf4da74cf65ec7048bad1bbfa691064ee803f --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000357/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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"offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000360/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000360/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13562932fc61ade0f95b11cc8a3af251f1862595 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000360/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000361/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000361/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcb381cdf91c4f0650665c43841905109066132c --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000361/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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"cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2291512785398617, + -0.9888268322668016, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000365/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000365/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8dfa502980de84c7de30afe2fa44cfdcd77f42b8 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000365/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + 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"cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, 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"coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9680388290520946, + -2.080561765164322, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000367/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000367/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e1c0567d5e0638a07334c670ed9af6819886cb --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000367/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000372/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000372/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51ccf5bee3048fcc9caa275c47a7445486be5f76 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000372/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + 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0000000000000000000000000000000000000000..afa03ed51cefdf7fc343d5e13943a9848893202a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000373/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 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}, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 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--git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000376/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000376/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba51c3a2a1688ecce70580720da3f53f55c47e7a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000376/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000377/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000377/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f76186e8dbf20386d523c7d0692fc61d9b598b4a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000377/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000385/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + 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+ "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 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in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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"placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 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{ + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.902272547037241, + -1.8791018663858505, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000400/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000400/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70d9aeb76594d2ac264277c0cb706c6066c0b2ae --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000400/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0694688756754824, + -0.9966608304702663, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000404/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000404/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca73e47f9e7dc3e68cae9217cd13b8bb6bc7472 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000404/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + 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"Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.424300801098938, + -0.9991856955542556, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000405/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000405/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76ce337f6552824b5cda0d2993d799ff019b1a33 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000405/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": 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in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9519658741872314, + -2.0882785849410013, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000406/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000406/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b49295e7c52138d288a5122b2a225a85ffd09ae --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000406/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + 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-0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9672627152493988, + -3.4160030033370794, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000410/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000410/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cee20f15748b50fc24eff51f880dfa6c39bc0d7 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000410/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + 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"coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9127053293280842, + -2.092044341387728, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000412/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000412/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b7839353eaa379e69890ea0ee09e025e8c7de93 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000412/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "fridge_cab_main_group": { + "cls": "HingeCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9341757404124338, + -3.679250973754393, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000416/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000416/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eae448d2795ca2078ccea9cd7cd25e260b5bebd8 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000416/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + 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+ "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000418/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000418/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef1625636036c91d8688eaa8c818f464f33567a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000418/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000419/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..649df6c2f9c111115cae2f9fd3a94dd917a56a50 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000419/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": 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3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000421/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000421/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29dc0e2c6b5371c121e8308f3573c2be4d8cce63 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000421/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], 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and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11499973549999994, + 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}, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + 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0000000000000000000000000000000000000000..6af725ddf8b6fe3246bafed9a82b78903b7ed986 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000426/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + 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"cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "tiered_basket_left_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 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0000000000000000000000000000000000000000..de21a5cea499a4af58ce4da3c7cedf34587c7029 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000427/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7256472459073544, + 0.65 + ], + "offset": [ + 0.5750000075896851, + -3.469446951953614e-17, + 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000428/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000428/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..376f38acad4c8cb8c5f2bb394c454bc10ea6af1a --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000428/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + 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}, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 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0000000000000000000000000000000000000000..7b1df466400457d2ce92b0a17898e0ed1e915502 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000429/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, 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"Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.134629241149721, + -0.9707309163479967, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000432/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000432/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d51ea8b2c7baccc8daa825c213ae3b839b5810a2 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000432/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": 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}, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9452989943759921, + -2.167400756788248, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000433/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000433/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..22bb91ed2600b80a43f10e3ba2fda2fbbbe692cb --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000433/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": 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"placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000437/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000437/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29cbb7dbee5eb274adf18a4624f065c5b2d059c1 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000437/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000442/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 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0000000000000000000000000000000000000000..0a838603938d73925866e5817679c0286a6ddafa --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000448/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 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"robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1529770691942054, + -0.9638612968312397, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000449/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000449/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..570bfd414981165fbfec971be47cf7bea66b92a5 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000449/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.12999439049999995, + 0.12961336439999996, + 0.03717213369999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": 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"fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.165658606135059, + -0.9338886678080605, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000450/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000450/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d39dcee24d2a5087447828a2640ea4c0c3c5b0df --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000450/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": 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"counter_1_left_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9190933621823024, + -2.4340297655497443, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000455/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000455/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..823a01a3fc5b7c1505546332718466ba7f6d0758 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000455/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + 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index 0000000000000000000000000000000000000000..dbbd13126a0563ad51969271b1811c56775fbd86 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000458/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000002, + 0.65 + ], + "offset": [ + 0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + 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{ + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.205602922004709, + -0.971481061232498, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000459/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000459/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86c231036a0373ad98bcb483179442af7e67d1dc --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000459/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "dishwasher_right_group", + "min_size": [ + 0.12999703989999994, + 0.12999646659999994, + 0.043022952699999985 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "size": [ + 0.8830045331087513, + 0.65 + ], + "offset": [ + -0.32999999999999985, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + 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"utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.967915364502349, + -2.028746470489079, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000460/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000460/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab0ecc786d74631820a01e3855a73aa29b4c71eb --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000460/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" 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] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000461/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000461/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb18f6e3531e2e2e6205fb5736adef01722eb745 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000461/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + 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+ }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the cup and bowl from the counter, place them in the dishwasher, and close the dishwasher door.", + "fixture_refs": { + "dishwasher": "dishwasher_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3929077740041365, + -0.9089152141303595, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000467/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000467/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53fba0b8aba1352827c099c18de6dfc1f2d9374b --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000467/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.11999818679999995, + 0.11999429999999994, + 0.049354819199999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml" + }, + "reset_region": { + "size": [ + 0.7841409581031384, + 0.65 + ], + "offset": [ + 0.32500000758968506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + 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"counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" 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"camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1106636601903244, + -0.9271197237194114, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000468/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000468/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d2038c893fe5fe31da01225b452c788e33f9a6 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000468/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11499973549999994, + 0.11499674089999992, + 0.03344736819999999 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000006, + 0.65 + ], + "offset": [ + -0.8250000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + 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}, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + 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a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000471/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000471/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cc6671a5021f808d3871ee92516dfb0a2f4a62f --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000471/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08707892339999997, + 0.08707892024999996, + 0.10499999999999995 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": 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} + }, + "init_robot_base_pos": [ + 3.0081851115447007, + -0.9851358803465154, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000479/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000479/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81eb27d6a05edb77b9882e7d879ec990e3d048ff --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000479/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": 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-2.3395243574704603, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000481/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000481/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..483f9cb05c7c64b50d704ff9f5cd864ee05fa64f --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000481/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "dish1", + "obj_groups": "bowl", + "object_scale": 0.5, + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "dishwasher_left_group", + "min_size": [ + 0.11990635799999994, + 0.11999860559999995, + 0.049146400799999976 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 0.9958662898282258, + 0.65 + ], + "offset": [ + 0.07499999999999973, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + 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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000482/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70f28cdad39ffbec1b96043cdd74b463ab5b6f6f --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000482/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "dish0", + "obj_groups": "cup", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "dishwasher_main_group", + "min_size": [ + 0.08499978494999998, + 0.08499945004999998, + 0.08499999999999998 + ] + }, + "size": [ + 0.35, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": 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"fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "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": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + 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