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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f064bd99cc013a11e5829665831e6b10d0325c3d --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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"placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + 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+ ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000114/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000114/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6348780540c5594907292deaeeaa3907ee99a970 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000114/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000118/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000120/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000120/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f0041175f481cfd0338d673ae68ce77903bb4a0 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000120/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8241889745523513, + -1.9435356102060928, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000122/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000122/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1210b48ef76fb7e5284010ace281c81d32591db0 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000122/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": 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"layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + 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0000000000000000000000000000000000000000..c046703414a7858e2b91fa31a0cc60c0ea6e4fe4 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000127/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000130/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000130/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b39de9ec8e656a7009d13bd046419bcc87f8834 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000130/ep_meta.json @@ -0,0 +1,394 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + 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"lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000146/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f15aa1e1e782833512cb0b35b549d744b1712cf --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000146/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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[ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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" + }, + 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+} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000200/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000200/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..538614c453c9cc734701462fa54f1bd878e57078 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000200/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { 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+ }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wash the lettuce in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_island_group", + "counter": "island_island_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, + 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000207/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000207/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..da3d01ed7059a8b890d9a69b7da5b2da40c5815d --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000207/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000224/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000224/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01fa892cccd8dfecc2b76b3ca10316fb5960fbc5 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000224/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "fixtures": { + 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0000000000000000000000000000000000000000..55ed526fb1aadc2b1094f0a26d7f1c76a900ee96 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000226/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 0.5470704714618846, + 0.65 + ], + "offset": [ + -1.2264647642690578, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000270/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000270/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f765f93aaf9dd7d8abe9e35a9a88428ca13dd3 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000270/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + 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0000000000000000000000000000000000000000..e777b45d1da95ee9e788fa28eb110bc680e88ea5 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000281/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + 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0000000000000000000000000000000000000000..bac1bb89f580c213bdd38981fd3859c77b04c47c --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000288/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 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0000000000000000000000000000000000000000..9bb6d5993454e69770822609d7040b3b262e2433 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000305/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000307/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + 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"cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Wash the lettuce in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_left_group", + "counter": "counter_1_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": [ + 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0000000000000000000000000000000000000000..65c4f72c0981d0ca08adee432dcb8ac431553482 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000321/ep_meta.json @@ -0,0 +1,334 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.0378236153639921, + 0.65 + ], + "offset": [ + 0.7310881923180039, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeBottomFreezer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, 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100644 index 0000000000000000000000000000000000000000..f27cc1a699af2ab62d2021bde8a10ec1f6a69b9c --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000326/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2653553001051328, + -1.7718281309185655, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000328/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000328/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..650ea0743997b453e6610cf0c75dfc31cc998aff --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000328/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": 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"lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + 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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": [ + 1.7764513752775066, + -0.8439799634041314, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000354/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000354/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5522268518741450adcaf5a4cd2a71d19e057f9b --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000354/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "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" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_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" + }, + 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"placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000371/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml" + } + } + ], + "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": 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0000000000000000000000000000000000000000..f8e9493637ffa73054753717ffd2b83f5ea8360d --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000414/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 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0000000000000000000000000000000000000000..d4edd9783b27844416892c8201f3017af0c129e9 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000417/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.5670704714618844, + 0.65 + ], + "offset": [ + 0.716464764269058, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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" + }, + 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000452/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000452/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a984313386f57e4c8994937dfc3bf1103c9f4e0d --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000452/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": 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a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000453/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000453/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a626d5d275ed41b3856298e099ac443abf5cdd90 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000453/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + 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+ "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.103613425296547, + -2.163822982016719, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000456/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000456/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bcffd642d2a432158b75d0e27db568c2b721be0c --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000456/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.272569548, + 0.22892023199999997, + 0.09834404399999999 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + 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+ "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.34513957199999995, + 0.26839488, + 0.143853756 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander012/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000478/ep_meta.json @@ -0,0 +1,508 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000480/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ab31fd314d4daca91b9060f96b63fedcb734ba9 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000480/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander009/model.xml" + }, + "reset_region": { + "size": [ + 1.0332000093435987, + 1.4 + ], + "offset": [ + 0.8583999953282007, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" 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b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000484/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6abcef9ae4dc0a5b50406a413fedd68f499b7f4 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000484/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.274283964, + 0.241515996, + 0.136869048 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": 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0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2157082223710436, + -1.763185631379362, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712296326794897 + ] +} \ No newline at end of file diff --git a/target/composite/WashLettuce/20250814/lerobot/extras/episode_000491/ep_meta.json b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000491/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92d45db2c3881008ec9062b3ac6e056b98a797f5 --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000491/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce009/model.xml" + } + } + ], + "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": { + 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0000000000000000000000000000000000000000..d2720874d0a99660e2a73f61e90237f0249d834a --- /dev/null +++ b/target/composite/WashLettuce/20250814/lerobot/extras/episode_000499/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lettuce_container", + "obj_groups": "colander", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.30330441599999997, + 0.22806569999999998, + 0.109417488 + ] + }, + "size": [ + 0.4, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "colander" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "colander" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander008/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "lettuce", + "obj_groups": "lettuce", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "lettuce_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lettuce" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wash the lettuce in the sink by running water over it.", + "fixture_refs": { + "sink": "sink_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.056370412475069, + -2.17092399257487, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file