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newline at end of file diff --git a/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000002/ep_meta.json b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea040803404e8508747b5e2e9570be4877d360b --- /dev/null +++ b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,358 @@ +{ + "layout_id": 27, + "style_id": 57, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { 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b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..391ea15792623dcd9895092a6129c34d102af9c4 --- /dev/null +++ b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,400 @@ +{ + "layout_id": 35, + "style_id": 50, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, 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diff --git a/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000025/ep_meta.json b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d331f7f9d2182591f1e6cedd8e52b58e2fc31ed0 --- /dev/null +++ b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,313 @@ +{ + "layout_id": 36, + "style_id": 32, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": 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a/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000032/ep_meta.json b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3eac81e8da3f7239d1ae29b3657646d9c22d02 --- /dev/null +++ b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,376 @@ +{ + "layout_id": 18, + "style_id": 49, + "object_cfgs": [], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + 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b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6eec1be8d18594ba91830613281223fd4952855d --- /dev/null +++ b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,352 @@ +{ + "layout_id": 47, + "style_id": 53, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, 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a/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000069/ep_meta.json b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17193e04cc3cecab905801eaf1bebf937639c42e --- /dev/null +++ b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 43, + "style_id": 58, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + 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\ No newline at end of file diff --git a/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000074/ep_meta.json b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0aa8e2223f7e0055d76bb0a8bb41e596de28e49 --- /dev/null +++ b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,373 @@ +{ + "layout_id": 16, + "style_id": 12, + "object_cfgs": [], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_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": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + 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b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cff76fde9dfe5b65ab4e2a506bf2001ba1541f1b --- /dev/null +++ b/pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,358 @@ +{ + "layout_id": 42, + "style_id": 57, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + 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4.068423377295146, + -1.880333043038156, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000009/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..739fa6e038996438f0b6b53cc7ffca4201c5fb13 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,556 @@ +{ + "layout_id": 18, + "style_id": 18, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.05081778141778559, + -0.03338750306670349 + ], + "size": [ + 0.47210640443202934, + 0.38620190826223266 + ], + "height": 0.12923828125535286, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.045100281, + 0.272079354, + 0.034681308 + ] + }, + "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", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs007/model.xml" + }, + "reset_region": { + "size": [ + 0.71, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.06069641363999998, + 0.08084041541999998, + 0.03837366008999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ 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"FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + 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"paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "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": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the oven door.", + "fixture_refs": { + "fxtr": "oven_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "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": [ + 0.9641615023656842, + -1.1692845208289895, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000010/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b42bd6ca003d6ca52355c0b08756cb6e489504c0 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 17, + "style_id": 40, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.026203076003446082, + 0.0002766218406292746 + ], + "size": [ + 0.5443022743904073, + 0.4638021611084153 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.034977726, + 0.18, + 0.011318032799999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_23/model.xml" + }, + "reset_region": { + "size": [ + 0.818, + 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_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { 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"cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + 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3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000017/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a94ef54e8f0958b7c8d175bc80e25206cfd2dd6 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 29, + "style_id": 19, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..7f46959bac8f0552981dd915ecd12f89a852c42d --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,653 @@ +{ + "layout_id": 17, + "style_id": 25, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + "offset": [ + -0.0006130230536490755, + -0.0012519945048639902, + -0.1270098929936964 + ], + "size": [ + 0.520350353324301, + 0.32345126372943045 + ], + "height": 0.10692935595419578, + "name": "rack0" + } 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a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000020/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68b9ea016f1da91c9e95dad193781af5b85c0c74 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 15, + "style_id": 59, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray005/model.xml" + }, + "reset_region": { + "offset": [ + 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], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml" + }, + "reset_region": { + "offset": [ + -0.00014228432647185596, + -0.009133747980802506, + -0.12953017493898192 + ], + "size": [ + 0.46209971028309305, + 0.39726728769313757 + ], + "height": 0.13071999431359174, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.073373473, + 0.0649336, + 0.00975 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato_slice" + ], + "groups": [ + "all" + ], + "cat": "tomato_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tomato_slice/TomatoSlice007/model.xml" + }, + "reset_region": { + "size": [ + 1.5445698598027657, + 1.3 + ], + "offset": [ + 1.277696570098617, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + 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+ ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000026/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f97701e0329dd651a6c5368576bce2e50f378975 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 35, + "style_id": 56, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml" + 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a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000030/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ba576f5d6df43fac966d26b6bc7790778636fc3 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 42, + "style_id": 32, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml" + }, + "reset_region": { + "offset": [ + 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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": [ + 1.1811664801237203, + -2.405845033131564, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000036/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a54f47b644022ed26ed960c6f98e8bdc1d8a876a --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 34, + "style_id": 19, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + 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--- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,626 @@ +{ + "layout_id": 29, + "style_id": 39, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray005/model.xml" + }, + "reset_region": { + "offset": [ + 0.001484587893097078, + 0.008093741182450404, + -0.12796236999809324 + ], + "size": [ + 0.5280805688426562, + 0.509652436291709 + ], + "height": 0.11289428349840974, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": 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"stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + 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"dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Open the oven door.", + "fixture_refs": { + "fxtr": "oven_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 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"oven_tray", + "placement": { + "fixture": "oven_main_group", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml" + }, + "reset_region": { + "offset": [ + -0.003552272449672822, + 0.021717987843045322, + -0.02137208055047561 + ], + "size": [ + 0.5562461472479844, + 0.4632119392402643 + ], + "height": 0.17941404040769782, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.07903809439999998, + 0.07907211679999998, + 0.06379868959999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.082723443075, + 0.05116918747499999, + 0.15908801894999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_2/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_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_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the oven door.", + "fixture_refs": { + "fxtr": "oven_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + 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0.9046944776951983, + -1.2305217730184494, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000050/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd73c26eb76ba1f574c6d899b0080c032c41af13 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 12, + "style_id": 58, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": 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file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000051/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db901236b8f81a10ac850e707554a2df41c05bb0 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,743 @@ +{ + "layout_id": 39, + "style_id": 41, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000052/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..734425ffd53041a3be8fef2483d7656642931cad --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,545 @@ +{ + "layout_id": 17, + "style_id": 19, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.022930227501227293, + 0.00027661480410358613 + ], + "size": [ + 0.5443022611696301, + 0.3939426128690322 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil003/model.xml" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.1049999979, + 0.1049999979, + 0.006800600099999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "waffle", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "waffle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml" + }, + "reset_region": { + "size": [ + 0.818, + 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_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": 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{ + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the oven door.", + "fixture_refs": { + "fxtr": "oven_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.153781766489549, + -2.368594623017548, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000054/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..672af023991b13dd43e7631b8a04a637746aec12 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,686 @@ +{ + "layout_id": 39, + "style_id": 41, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml" + }, + "reset_region": { + "offset": [ + -0.003552272449672822, + 0.0200473733935803, + -0.02137208055047561 + ], + "size": [ + 0.5562461472479844, + 0.4275802516063978 + ], + "height": 0.17941404040769782, + "name": "rack0" + 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b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f9a50acdb948ec740e59a521cabcd0170b7b00 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 35, + "style_id": 39, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + "offset": [ + 0.001484587893097078, + 0.007471145706877291, + -0.12796236999809324 + ], + "size": [ 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}, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + 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"cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + 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file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000068/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3f5e6a9abc206981055d20052744742ed609009 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 29, + "style_id": 14, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray007/model.xml" + }, + "reset_region": { + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000094/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ce36ad4d9b26824ce054df43ec7b8f7d1bf930d --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 29, + "style_id": 48, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "oven_main_group", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "wooden_spoon", + "split": "train", + "mjcf_path": 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1.2240308535793274, + -2.421706209311194, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000103/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14ce96ff03721d06b1cd23bd78815fd0087473b6 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 15, + "style_id": 14, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": 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}, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the oven door.", + "fixture_refs": { + "fxtr": "oven_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9915609398664889, + -0.7180215812503278, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000104/ep_meta.json b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a70a4d294b4ad3fe2b058863be3626275f9c68c4 --- /dev/null +++ b/pretrain/atomic/OpenOven/20250820/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 17, + "style_id": 35, + "object_cfgs": [ + { + "name": "door_obj_container", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 1.0, + 0.45 + ], + "pos": [ + null, + -1.0 + ], + "try_to_place_in": "oven_tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray006/model.xml" + }, + "reset_region": { + "offset": [ + 0.001484587893097078, + 0.007471145706877291, + -0.12796236999809324 + ], + "size": [ + 0.5280805688426562, + 0.4704484027308083 + ], + "height": 0.11289428349840974, + "name": "rack0" + } + }, + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "door_obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "train", + 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