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b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd152f05b2740cb007a9448aabd28c16f4570c4 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000049/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": { + 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+{ + "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": 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0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9976648488749831, + -3.435379450448183, + 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_000079/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed0c2aa9dd382eda25813603ae56f1dce99fa8e2 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000079/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": [ + 0.12999703989999994, + 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" + }, + 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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, + 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100644 index 0000000000000000000000000000000000000000..a463060945a5c2cc3ce2acd42a97a6fc354737dd --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000259/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": [ + 0.12999439049999995, + 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": "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": 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"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, + 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"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, + 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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_000311/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000311/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6115fcb0c462880889284d8e35a2703817a7b133 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000311/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": 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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_000339/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000339/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1aba0f1858a56a24db9625a2bbedbed435f8dc5d --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000339/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": [ + 0.11990635799999994, + 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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"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": [ + 0.9959537445988341, + -3.3565862139757465, + 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_000423/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000423/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6101d1e831ee991070962e70583b54cae4065248 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000423/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": [ + 0.11999818679999995, + 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": [ + 0.9958662898282258, + 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": { 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+ }, + "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" + }, + 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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_000441/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000441/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17f4f634bc3971dbf8991bbfb188e0216145eaf4 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000441/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" + }, + "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": { + 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file diff --git a/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000486/ep_meta.json b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000486/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee1c6c009f4be3107e2df932871d52be19efd811 --- /dev/null +++ b/target/composite/LoadDishwasher/20250811/lerobot/extras/episode_000486/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", + 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