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a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000002/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..756b2bb2724238b12e00db67b4f69b2be86691a1 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 53, + "style_id": 50, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005212689042089491, + 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--- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 13, + "style_id": 46, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.001149712457314156, + 0.05517546230841013, + 0.5465870370512383 + ], + "size": [ + 0.7483246503761064, + 0.356599373595367 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridge_1_right_group_1", + "min_size": [ + 0.046719810000000014, + 0.22428135000000005, + 0.033552333000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + }, + "reset_region": { + "size": [ + 0.869, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + 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{ + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, 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a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000004/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85f1dfa8340b280c35a8fb98daaceaab6c25df4c --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 46, + "style_id": 53, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { 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--- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 51, + "style_id": 36, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0027731990971153475, + 0.08983484301916607, + 0.5255047480463814 + ], + "size": [ + 0.7329189079010641, + 0.5191647162933378 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + 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a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000007/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5602c67cae27586b5a7109269b024bc72b4360ea --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,590 @@ +{ + "layout_id": 29, + "style_id": 60, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.1692481058099485, + 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newline at end of file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000008/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..565240c395b3447465fe8e7278d55a0b030aea40 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 39, + "style_id": 29, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": 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a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000012/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..197b4d5d2eef0f281b880424981b9596eb1c075e --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 48, + "style_id": 32, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + }, + "reset_region": { + "offset": [ + 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a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000013/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b71313165ffc1f6784a9dee31c4776fe91cc5615 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,519 @@ +{ + "layout_id": 28, + "style_id": 56, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.012142208719510522, + 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b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c878affa1b5c4d75507868f35b3c86b97b9d958 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 23, + "style_id": 55, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.012142208719510522, + 0.08437463521775693, + 0.10007311547987242 + ], + "size": [ + 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[ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000024/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4076f4bf9d469726b031f581dad280bfede1bd63 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 17, + "style_id": 45, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": 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--- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 60, + "style_id": 45, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.005103815133564837, + -0.025509715229347765, + 0.4904887230576014 + ], + "size": [ + 0.6381259239078757, + 0.44450626326519715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + 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a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000031/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2cbe0608076a790b2c24a1a1578573cc95e135e5 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 24, + "style_id": 39, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "dairy", + "drink", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.16560395056048813, + 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diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000046/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..266667cdafb48705988250c5328e0774d5819868 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 26, + "style_id": 40, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 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of file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000052/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be7a929d3e9740bc7e6176b41af5a3038fe3956d --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 51, + "style_id": 28, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000055/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..526b760d1f5b3cca3215c6fdb4cb4e5e2b51de88 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,453 @@ +{ + "layout_id": 42, + "style_id": 15, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "train", + "mjcf_path": 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[ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0004475505323384421, + 0.046642014072881766, + 0.5299704971182502 + ], + "size": [ + 0.7477337073418808, + 0.5012389064540838 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.029180713, + 0.24547144049999997, + 0.0240399875 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tongs", + "split": "train", + 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100644 index 0000000000000000000000000000000000000000..1c077576a60cd7659ae7c1f25879cf4f4dfdff76 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 45, + "style_id": 54, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.17802675813003277, + 0.05882981109422336, + 0.4045891778267889 + ], + "size": [ + 0.3957393745088522, + 0.6792690160011272 + ], + "name": "fridge_shelf0" + } + 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2959581011054593, + -3.6502883091547047, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000069/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..280c2a5e068598737913d984de2c5294e8465639 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 27, + "style_id": 13, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015637160160548724, + 0.11978314984437748, + 0.14411490185183448 + ], + "size": [ + 0.5903976923748729, + 0.43108380372651633 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.0411783695, + 0.04113213764999999, + 0.15653065134999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000072/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..709b73054b61e80cf4040f2e9b775364780f1430 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,474 @@ +{ + "layout_id": 32, + "style_id": 26, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "train", + "mjcf_path": 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1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000076/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caf804d2bb875547bf2596bcd1814890fbd54ab6 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 19, + "style_id": 16, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_1_main_group_3", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread", + "split": "train", + "mjcf_path": 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file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000094/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e705dc8737cf2f5b4a4686fc7cb0632c9a39546 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 14, + "style_id": 25, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml" + }, + "reset_region": { + 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No newline at end of file diff --git a/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000098/ep_meta.json b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0fc50643be6de5ce9756ac34a95e4a2eb3fa5b55 --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 48, + "style_id": 51, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + 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--- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,551 @@ +{ + "layout_id": 48, + "style_id": 43, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "drink", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.001327724047496398, + 0.10239755022863098, + 0.12970230240807584 + ], + "size": [ + 0.70275543426578, + 0.5132593780045489 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_right_group_1", + 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0000000000000000000000000000000000000000..c431cac22fe484eaf80f6cf8f5dff7b70e10435a --- /dev/null +++ b/pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 12, + "style_id": 21, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 0.03512962808270291, + 0.20168922752779717 + ], + "size": [ + 0.7088139782743381, + 0.4391879139196688 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "fridge_1_left_group", + "min_size": [ + 0.08161475793771779, + 0.0816655669562835, + 0.09670613828410914 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "coffee_cup", + "drink" + ], + "groups": [ + "all" + ], + "cat": "coffee_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_21/model.xml" + }, + "reset_region": { + "size": [ + 0.8404382524900399, + 0.65 + ], + "offset": [ + -0.8047808737549802, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": 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