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end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f017f57915fc03e5b6784c87fc4bebe703f37233 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 33, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + 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+ 0.0, + 0.0, + 3.4228548662085245e-08 + ], + "refs": { + "num_bread": 1 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb9efd07d2425bf6057244b686e79e4cba37cc8 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 36, + "style_id": 12, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0.0, + 0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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+ "num_bread": 1 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b297e3f86dcd469e172af90291133315f6b713 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 54, + "style_id": 40, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.25312497300000014, + 0.3375000000000002, + 0.016875040500000008 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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"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" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_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": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": 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0000000000000000000000000000000000000000..a69f4063f1c46f14cd54f0166c55c2fe452270ee --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 44, + "style_id": 49, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": 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+ "cube_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" + } + }, + "gen_textures": {}, + "lang": "Place all breads on the cutting board.", + "fixture_refs": { + "counter": "island_island_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": { + 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0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.982011422215748, + -0.8216495404454089, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "num_bread": 1 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1701da0121be7e324758d8efbfb2797c8072a7a --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 60, + "style_id": 41, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + 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mode 100644 index 0000000000000000000000000000000000000000..26b6b72d0c91889f24321c09926fec93cbbcfeb2 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 14, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + 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"pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 3.290428, + 1.17 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0_container", + "obj_groups": "container", + "placement": { + "fixture": "island_island_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0.0, + 0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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--git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52bdc6387b088881d92fdabc199d7bbee33a6f99 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,745 @@ +{ + "layout_id": 25, + "style_id": 40, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.658002260917765, + -0.7582676845118268, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "num_bread": 1 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a3214c203ae863405035a2581f701e9116b0d49 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 32, + "style_id": 49, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 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"stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place all breads on the cutting board.", + "fixture_refs": { + "counter": "counter_2_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, + 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diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d179c56390cd08aa6425f64f6872ff6e8fcd8e3b --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 19, + "style_id": 54, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0.0, + 0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0", + "obj_groups": "bread", + "graspable": true, + "object_scale": 0.75, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_0_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml" + } + } + ], + "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_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + 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+ "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place all breads on the cutting board.", + "fixture_refs": { + "counter": "counter_1_right_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": [ + 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+ "style_id": 44, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0.0, + 0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0", + "obj_groups": "bread", + "graspable": true, + "object_scale": 0.75, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_0_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + } + } + ], + "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": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + 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b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67fa4ffd3e737138b36f0810348f7a3fbe68495c --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,579 @@ +{ + "layout_id": 29, + "style_id": 23, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.22561077825000012, + 0.33319761750000015, + 0.007228912500000004 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": 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], + "name": "geom_1" + } + }, + { + "name": "obj_0", + "obj_groups": "bread", + "graspable": true, + "object_scale": 0.75, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_0_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml" + } + } + ], + "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": { + 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a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..005cfdef596602627162cf73fdf7612ec04cab01 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 54, + "style_id": 14, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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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": [ + 5.617485125146985, + -3.4099481202749007, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712237433597448 + ], + "refs": { + "num_bread": 2 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d899f0d011d578f563fbf08575e8378c3e303c5 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,663 @@ +{ + "layout_id": 25, + "style_id": 40, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.2, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group", + "reuse_region_from": "receptacle", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0.0, + 0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.2, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0", + "obj_groups": "bread", + "graspable": true, + "object_scale": 0.75, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_0_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "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_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Place all breads on the cutting board.", + "fixture_refs": { + "counter": "counter_2_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.381010048279267, + -3.981447431000378, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "num_bread": 1 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88ecb2e72dd47f1e6c4647e9264533f8683c8ea4 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 18, + "style_id": 60, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.4184971639703603, + 0.65 + ], + "offset": [ + 1.0907514180148203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_0_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "receptacle", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0.0, + 0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4184971639703603, + 0.65 + ], + "offset": [ + 1.0907514180148203, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_0", + "obj_groups": "bread", + "graspable": true, + "object_scale": 0.75, + 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a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d753dba20ceaab7dc2a6280c5d15c80f374d3d37 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 46, + "style_id": 58, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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"cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "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" + }, + 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--git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8d89acb1e12dc06c4c7a234dc0d4341370fb358 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 60, + "style_id": 25, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.796862, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0", + "obj_groups": "bread", + "graspable": true, + "object_scale": 0.75, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_0_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "train", + "mjcf_path": 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b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..631768e262646796561d8bc832de3e077bfc3a9e --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 46, + "style_id": 31, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": 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"init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961757989832 + ], + "refs": { + "num_bread": 1 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6eb91e5052b5e0f040dba8f327782e194bb33082 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 22, + "style_id": 45, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.21063237813066102, + 0.2825111977020369, + 0.013640948370000005 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + 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diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd3f64c7e9987b5eafea1c57ed8fd4a20b0f55a9 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,619 @@ +{ + "layout_id": 24, + "style_id": 52, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": 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0.007228912500000004 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4505789243791432, + 0.649981 + ], + "offset": [ + -0.6715845378104284, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_03_right_group_1", + "reuse_region_from": "receptacle", + "size": [ + 1, + 0.4 + ], + "pos": [ + 0, + -1.0 + ], + "offset": [ + 0.0, + 0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4505789243791432, + 0.649981 + ], + "offset": [ + -0.6715845378104284, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_0" + } + }, + { + "name": "obj_0", + "obj_groups": "bread", + "graspable": true, + "object_scale": 0.75, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_0_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + } + } + ], + "fixtures": { + "wall_right_1_room": { + 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+ 0.0, + 0.0, + -0.00014782238328514552 + ], + "refs": { + "num_bread": 1 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1139952946dfef05f2fb491f964770ac81303832 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 11, + "style_id": 13, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.1986485580000001, + 0.3313963462500002, + 0.01982288700000001 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + 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+ ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 2.0281593271498366e-07 + ], + "refs": { + "num_bread": 1 + } +} \ No newline at end of file diff --git a/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2e74e24516cbcf85a08bdfa000ff88660742f06 --- /dev/null +++ b/pretrain/composite/BreadSetupSlicing/20250719/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,553 @@ +{ + "layout_id": 60, + "style_id": 54, + "object_cfgs": [ + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "top_size": [ + 1.0, + 0.4 + ], + "min_size": [ + 0.20597866231500012, + 0.3545418625650002, + 0.015168435435000007 + ] + }, + "size": [ + 1, + 0.4 + ], + "pos": [ + 0.0, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "island_island_group_1", + "cabinet": "cab_2_main_group", + "sink": "sink_1_island_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": [ + 2.1768694042017347, + -1.7925151652786966, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4222452f1ab86efe43677f5ab3efd5173b5e3ece --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 41, + "style_id": 15, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554049, + 0.39917 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9479660203869256, + 0.650008 + ], + "offset": [ + -0.8354309898065373, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "size": [ + 0.7908363403869254, + 0.650008 + ], + "offset": [ + 0.9139958298065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "singlecabinet_1_main_group_1", + "sink": "sink_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": [ + 1.8197102940469807, + -0.8454613805047428, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13e18ba6b378bef7aa11f75d44e78febb683f7ed --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,490 @@ +{ + "layout_id": 31, + "style_id": 34, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + 0.015000000000000069 + ], + "size": [ + 0.8400000000000001, + 0.73 + ], + "height": 0.32999999999999996, + "name": "level1" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7107507944875668, + 1.3 + ], + "offset": [ + -1.1946061027562165, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "size": [ + 1.7107507944875668, + 1.3 + ], + "offset": [ + -1.1946061027562165, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_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" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_1_main_group_3", + "counter": "counter_1_right_group_1", + "cabinet": "cab_1_right_group_1", + "sink": "sink_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": [ + 3.3260318100589865, + -1.657742643387917, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15dece98d6fced34a6d53134b2d75e40cdb0cb77 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,478 @@ +{ + "layout_id": 53, + "style_id": 12, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_3_front_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_3_front_group_1", + "cabinet": "hingecabinet_4_front_group_1", + "sink": "sink_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": [ + 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"object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 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": 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group", + "cabinet": "cab_2_left_group", + "sink": "sink_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": [ + 0.8125032565900361, + -1.755249299199712, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f93e310e8ca14ba29dcba9ecf3174273953e0aed --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 42, + "style_id": 44, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.112, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_12/model.xml" + }, + "reset_region": { + "size": [ + 1.112, + 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" + }, + "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" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_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" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "hingecabinet_2_right_group_1", + "sink": "sink_island_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": [ + 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"object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "opencabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.1825 + ], + "size": [ + 0.877, + 0.426 + ], + "height": 0.365, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0745, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "size": [ + 1.0745, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + 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Then move spray from the shelves to the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_1_right_group_1", + "cabinet": "opencabinet_1_right_group_1", + "sink": "sink_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": [ + 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+ "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.34, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "cab_1_main_group_1", + "sink": "sink_1_right_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 + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "singlecabinet_1_main_group_1", + "sink": "sink_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": [ + 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], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_2_right_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1", + "cabinet": "hingecabinet_4_right_group_1", + "sink": "sink_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": [ + 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40, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.726, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.808998035691405, + 0.65 + ], + "offset": [ + 0.8205009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "size": [ + 0.808998035691405, + 0.65 + ], + "offset": [ + -0.8205009821542976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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"lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_1_left_group", + "counter": "counter_1_left_group", + "cabinet": "cab_2_left_group", + "sink": "sink_1_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": [ + 0.7925925073237338, + -0.9525938998593451, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52c2c96982c28f37929d26d09147a84084611689 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 45, + "style_id": 46, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5469999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1", + "cabinet": "hingecabinet_4_right_group_1", + "sink": "sink_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": [ + 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Then move spray from the shelves to the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group", + "cabinet": "cab_3_main_group", + "sink": "sink_1_front_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 + ], + 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_6_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.838452, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "hingecabinet_6_main_group_1", + "sink": "sink_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, 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1", + "cabinet": "hingecabinet_3_main_group_1", + "sink": "sink_right_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": [ + 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[ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.720175437066536, + 0.65 + ], + "offset": [ + 1.015554281466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_2/model.xml" + }, + "reset_region": { + "size": [ + 0.720175437066536, + 0.65 + ], + "offset": [ + 1.015554281466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "hingecabinet_4_main_group_1", + "sink": "sink_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, 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"quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.188790334638188, + -0.7942046548639481, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2a2f597a54c1d9323661acd17f400c297d03b2e --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,469 @@ +{ + "layout_id": 30, + "style_id": 29, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 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_1_room": { 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"gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group", + "cabinet": "cab_2_left_group", + "sink": "sink_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": [ + 0.8062694236623198, + -1.547741720198071, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b775bf5bb346bbae66a6dd1e3fa73c8e406ba04 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 25, + "style_id": 17, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.79, + 0.5900000000000001 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "cabinet": "cab_1_right_group", + "sink": "sink_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": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "island_island_group_1", + "cabinet": "hingecabinet_3_main_group_1", + "sink": "sink_island_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": [ + 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"object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7986040000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_front_group_1", + "counter": "counter_1_front_group_1", + "cabinet": "hingecabinet_2_right_group_1", + "sink": "sink_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": [ + 0.6092277787755168, + -4.531639988074056, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..421de8d9c6f70186fc14db02f34a567f879fa017 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 25, + "style_id": 57, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.79, + 0.5900000000000001 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + 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"CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "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_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "cabinet": "cab_1_right_group", + "sink": "sink_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": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.316682241685324, + -0.9100711026023647, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57f1da8904a5233a59250a8a895ebbe40d514db2 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 38, + "style_id": 25, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.266802, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "cabinet": "cab_1_right_group", + "sink": "sink_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": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "counter_2_main_group_1", + "cabinet": "hingecabinet_3_main_group_1", + "sink": "sink_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": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "singlecabinet_5_main_group_1", + "sink": "sink_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": [ + 1.3345388822801372, + -0.7853073045559273, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfd476005712e552875a73d7b48128fd921c848 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 24, + "style_id": 23, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 2.786, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_19/model.xml" + }, + "reset_region": { + "size": [ + 2.786, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": 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"stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_main_group", + "cabinet": "cab_5_main_group", + "sink": "sink_1_island_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": [ + 6.0376294416213305, + -0.7917107467977161, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32e5438c3313f743e800dc5b6f77f3c42259d3d0 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,469 @@ +{ + "layout_id": 30, + "style_id": 51, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 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_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group", + "cabinet": "cab_2_left_group", + "sink": "sink_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": [ + 0.8421815868852514, + -1.672099789723118, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..624e65a4a48f27eb41e680b1d02d80cd67462a97 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 16, + "style_id": 50, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.34, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "cab_1_main_group_1", + "sink": "sink_1_right_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": [ + 1.2731885801656981, + -0.8388978026211882, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4497698e986160aa26956698e07a7919b281451e --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,418 @@ +{ + "layout_id": 52, + "style_id": 42, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.45, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_10/model.xml" + }, + "reset_region": { + "size": [ + 1.009, + 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" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "island_island_group_1", + "cabinet": "cab_6_main_group", + "sink": "sink_1_island_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": [ + 2.426500731819206, + -1.7696446529768273, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cae301d5ff8c00f691607e861a9ec2077254febd --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 24, + "style_id": 28, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 2.786, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "size": [ + 2.786, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_main_group", + "cabinet": "cab_5_main_group", + "sink": "sink_1_island_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": [ + 6.007277330008598, + -0.7945625218941301, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7414d2e62d1a7710c10616023006570b100567cc --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,469 @@ +{ + "layout_id": 54, + "style_id": 27, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml" + }, + "reset_region": { + "size": [ + 1.022279, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_15/model.xml" + }, + "reset_region": { + "size": [ + 1.022279, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_2_main_group_1", + "cabinet": "hingecabinet_3_main_group_1", + "sink": "sink_right_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": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "cabinet": "cab_4_main_group", + "sink": "sink_1_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 + ], + 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "opencabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.1825 + ], + "size": [ + 0.877, + 0.426 + ], + "height": 0.365, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group", + "cabinet": "cab_6_main_group", + "sink": "sink_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, + -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 + ], + 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": 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"spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43000000000000005 + ], + "size": [ + 0.8, + 0.45 + ], + "height": 0.41500000000000004, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + 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Then move spray from the shelves to the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group", + "cabinet": "cab_3_main_group", + "sink": "sink_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9981208435290987, + -0.8437570666548038, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8aba66ca9401ed8211a3a5fcaf58d58d28dcef4f --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 22, + "style_id": 52, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6499999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_17/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "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_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_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" + }, + "floor_3_room": { + "cls": 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+ }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + 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"bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group", + "cabinet": "cab_3_main_group", + "sink": "sink_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": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.558920785433242, + -0.7715733920402902, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93a4b0fa1794f4fb040ab5756b1106233058fc12 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 59, + "style_id": 26, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "singlecabinet_01_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.45869699999999997, + 0.220978 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9253567259761806, + 1.075989 + ], + "offset": [ + 0.7384521370119099, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "island_island_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_21/model.xml" + }, + "reset_region": { + "size": [ + 0.9253567259761806, + 1.075989 + ], + "offset": [ + -0.7384521370119098, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_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" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + 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and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "island_island_group_1", + "cabinet": "singlecabinet_01_main_group_1", + "sink": "sink_island_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": [ + 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Then move spray from the shelves to the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group", + "cabinet": "cab_3_main_group", + "sink": "sink_1_front_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 + ], + 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6499999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "size": [ + 1.42, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + 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"bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group", + "cabinet": "cab_2_main_group", + "sink": "sink_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": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.35290619664543, + -0.7845630107047757, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44b9bf49d10865062d9f256b8fb76efd4dbe5a6f --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 55, + "style_id": 31, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_2_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_12/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_main_group_1", + "counter": "counter_2_main_group_1", + "cabinet": "hingecabinet_3_main_group_1", + "sink": "sink_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": [ + 2.5373906265196564, + -0.9242493835508047, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..118c41b624acb5b0659ce34b4d1111eafa96be07 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,634 @@ +{ + "layout_id": 39, + "style_id": 24, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "singlecabinet_5_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.696, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 2.086124301916048, + 0.65 + ], + "offset": [ + 1.8069378490419763, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_18/model.xml" + }, + "reset_region": { + "size": [ + 2.8271243019160477, + 0.65 + ], + "offset": [ + -1.4364378490419762, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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{ + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + 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"cls": "SingleCabinet" + }, + "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" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "singlecabinet_5_main_group_1", + "sink": "sink_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": [ + 4.748269554033772, + -0.8234304954515537, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62f76d7610c6f6f1732312ebace6ba202d1517e9 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 12, + "style_id": 25, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_3_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8749433326264595, + 0.65 + ], + "offset": [ + 0.7875283336867707, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8749433326264595, + 0.65 + ], + "offset": [ + 0.7875283336867707, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_1_left_group", + "counter": "counter_1_left_group", + "cabinet": "cab_3_left_group", + "sink": "sink_1_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 + ], + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "hingecabinet_2_right_group_1", + "sink": "sink_island_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": [ + 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"object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.79, + 0.5900000000000001 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_19/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "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_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "cabinet": "cab_1_right_group", + "sink": "sink_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": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.311449263898971, + -0.8885666397442044, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1448e1a5c249a7bf113ffae3be79119f98d7d11 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 58, + "style_id": 34, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.309139 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7210300344875669, + 0.65 + ], + "offset": [ + 1.2712849827562167, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_11/model.xml" + }, + "reset_region": { + "size": [ + 1.700110034487567, + 0.65 + ], + "offset": [ + -0.7817449827562164, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_left_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "singlecabinet_2_main_group_1", + "sink": "sink_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": [ + 4.813949604036102, + -0.8107468451443701, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..00d53c807b66d102db598cca9e3750561bf29f47 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 25, + "style_id": 20, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.79, + 0.5900000000000001 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_0/model.xml" + }, + "reset_region": { + "size": [ + 0.6, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + 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"CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "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_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "cabinet": "cab_1_right_group", + "sink": "sink_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": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.309703678576568, + -0.9893401647339558, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab1939990e92756a1f4c22c552a88d4539657f6d --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 38, + "style_id": 12, + "object_cfgs": [ + { + 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "hingecabinet_1_main_group_1", + "sink": "sink_right_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": [ + 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"object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.76, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "size": [ + 1.76, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "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" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_left_group_1", + "counter": "counter_1_left_group_1", + "cabinet": "cab_2_left_group_1", + "sink": "sink_1_island_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": [ + 0.8128463117102054, + -1.4309891938778778, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec65b1e2f138db403adaba8ea3e9e76d3ff66e49 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 46, + "style_id": 49, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml" + }, + "reset_region": { + "size": [ + 0.999707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_11/model.xml" + }, + "reset_region": { + "size": [ + 0.999707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_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": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "singlecabinet_1_main_group_1", + "sink": "sink_front_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": [ + 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"lang": "Move the cutting board and knife to the sink. Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_1_left_group", + "counter": "counter_1_left_group", + "cabinet": "cab_3_left_group", + "sink": "sink_1_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 + ], + 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5469999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_right_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_main_group", + "cabinet": "cab_5_main_group", + "sink": "sink_1_island_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 + ], + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgefrenchdoor_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "hingecabinet_1_main_group_1", + "sink": "sink_right_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": [ + 4.143496036632881, + -0.8166944503783615, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961519493434 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e28c63144cae2495b8147cbcafc8b0ca98bf51d8 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,469 @@ +{ + "layout_id": 30, + "style_id": 17, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_left_group", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 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": 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_1_left_group", + "cabinet": "cab_2_left_group", + "sink": "sink_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": [ + 0.8322688774646659, + -1.7389924009850866, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad1159395a7cfcdbca1f8407f4d628233ca27f8 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 25, + "style_id": 39, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.79, + 0.5900000000000001 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "cabinet": "cab_1_right_group", + "sink": "sink_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": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.340682740914832, + -0.9258330669652415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecd14f478186f96f21821a989f2e504901673661 --- /dev/null +++ b/pretrain/composite/CleanBoard/20250729/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 35, + "style_id": 33, + "object_cfgs": [ + { + "name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0418, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "object_scale": 1.5, + "placement": { + "fixture": "counter_1_main_group_1", + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_20/model.xml" + }, + "reset_region": { + "size": [ + 1.0418, + 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" + }, + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_1_main_group_1", + "counter": "counter_1_main_group_1", + "cabinet": "cab_1_main_group_1", + "sink": "sink_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, + -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 + ], 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7986040000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridgebottomfreezer_left_group_1", + "counter": "counter_1_left_group_1", + "cabinet": "hingecabinet_2_main_group_1", + "sink": "sink_right_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": [ + 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Then move spray from the cabinet to the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group", + "cabinet": "cab_1_right_group", + "sink": "sink_1_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 + ], + 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"name": "spray", + "obj_groups": "spray", + "graspable": true, + "placement": { + "fixture": "cab_2_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + -0.6, + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "spray" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.518, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "receptacle", + "obj_groups": "cutting_board", + "graspable": false, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group_1", + "size": [ + 1, + 0.5 + ], + "pos": [ + 0.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "cutting_board" + ], + 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new file mode 100644 index 0000000000000000000000000000000000000000..509fa8296497d950ae0d16adbb988eeeb7073518 --- /dev/null +++ b/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,607 @@ +{ + "layout_id": 23, + "style_id": 37, + "object_cfgs": [ + { + "name": "bowl", + "obj_groups": "bowl", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.6, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": 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+ ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..266e0e89efa4fa58d35a2fcaff8e41a524251f89 --- /dev/null +++ b/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 35, + "style_id": 39, + "object_cfgs": [ + { + "name": "bowl", + "obj_groups": "bowl", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.6, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + 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mode 100644 index 0000000000000000000000000000000000000000..2710726340830f74be4fec668ab808e61799fc27 --- /dev/null +++ b/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,631 @@ +{ + "layout_id": 15, + "style_id": 59, + "object_cfgs": [ + { + "name": "bowl", + "obj_groups": "bowl", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.6, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, 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new file mode 100644 index 0000000000000000000000000000000000000000..d742765448b89f2727c4336a2985926675f1d053 --- /dev/null +++ b/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 51, + "style_id": 45, + "object_cfgs": [ + { + "name": "bowl", + "obj_groups": "bowl", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.6, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": 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{ + "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": [ + 0.7820917555378734, + -2.148143658812624, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..228b5d8c27e51e2a0a36c0ae6155863d673042be --- /dev/null +++ b/pretrain/composite/OrganizeBakingIngredients/20250725/lerobot/extras/episode_000095/ep_meta.json 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-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": [ + 3.473318302061242, + -3.337054767640111, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f28fba588d19a49e13c6a40b25634c1598c8908a --- /dev/null +++ b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 31, + "style_id": 47, + "object_cfgs": [ + { + "name": "tongs", + "obj_groups": "tongs", + "object_scale": [ + 1, + 1, + 1.5 + ], + "init_robot_here": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "full_depth_region": true, + "min_size": [ + 0.045100281, + 0.272079354, + 0.05202196199999999 + ] + }, + "size": [ + 0.2, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "tongs" + ], + "cat": "tongs", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs007/model.xml" + }, + "reset_region": { + "size": [ + 1.577148654028164, + 1.3 + ], + "offset": [ + 1.2614071729859178, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.577148654028164, + 1.3 + ], + "offset": [ + 1.2614071729859178, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_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" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": 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b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7fb1279f38dbb5cf1976670c83f6bfc9eac61a0e --- /dev/null +++ b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 12, + "style_id": 28, + "object_cfgs": [ + { + "name": "tongs", + "obj_groups": "tongs", + "object_scale": [ + 1, + 1, + 1.5 + ], + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "full_depth_region": true, + "min_size": [ + 0.029180713, + 0.24547144049999997, + 0.03605998125 + ] + }, + "size": [ + 0.2, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "tongs" + ], + "cat": "tongs", + "split": "train", + "mjcf_path": 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+ 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" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, 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b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 12, + "style_id": 51, + "object_cfgs": [ + { + "name": "tongs", + "obj_groups": "tongs", + "object_scale": [ + 1, + 1, + 1.5 + ], + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "full_depth_region": true, + "min_size": [ + 0.029180713, + 0.24547144049999997, + 0.03605998125 + ] + }, + "size": [ + 0.2, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "tongs" + ], + "cat": "tongs", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs001/model.xml" + }, + "reset_region": { + "size": [ + 1.343131619802766, + 0.65 + ], + "offset": [ + -1.265434190098617, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + 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"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" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "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" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Pick up the tongs from the counter and place them near the plate next to the oven.", + "fixture_refs": { + "oven": "oven_left_group_1", + "counter_oven": "counter_1_left_group_1", + "counter_items": "counter_1_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, + -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": [ + 1.845519830274639, + -2.352270315332628, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91a7ee280611b92358b55aab9acf412c894af403 --- /dev/null +++ b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 29, + "style_id": 56, + "object_cfgs": [ + { + "name": "tongs", + "obj_groups": "tongs", + "object_scale": [ + 1, + 1, + 1.5 + ], + "init_robot_here": true, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "full_depth_region": true, + "min_size": [ + 0.029180713, + 0.24547144049999997, + 0.03605998125 + ] + }, + "size": [ + 0.2, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "tongs" + ], + "cat": "tongs", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs001/model.xml" + }, + "reset_region": { + "size": [ + 1.3921316980517522, + 1.8 + ], + "offset": [ + 1.1264341509741242, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/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" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_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": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "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" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "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": "Pick up the tongs from the counter and place them near the plate next to the oven.", + "fixture_refs": { + "oven": "oven_main_group", + "counter_oven": "counter_1_main_group", + "counter_items": "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, + -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": [ + 1.2316183817296231, + -4.682090065388288, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.4228548662085245e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a372a93b70bc869fe82a1a0559d87b88bc5436dc --- /dev/null +++ b/pretrain/composite/PrepareBroilingStation/20250804/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,465 @@ +{ + "layout_id": 42, + "style_id": 55, + "object_cfgs": [ + { + "name": "tongs", + "obj_groups": "tongs", + "object_scale": [ + 1, + 1, + 1.5 + ], + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "full_depth_region": true, + "min_size": [ + 0.045100281, + 0.272079354, + 0.05202196199999999 + ] + }, + "size": [ + 0.2, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "tongs" + ], + "cat": "tongs", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs007/model.xml" + }, + "reset_region": { + "size": [ + 1.855, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8151980356914048, + 0.65 + ], + "offset": [ + 0.8749009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "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" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" 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"object_scale": [ + 1, + 1, + 1.5 + ], + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "full_depth_region": true, + "min_size": [ + 0.0448377865, + 0.27733118199999995, + 0.08285066849999999 + ] + }, + "size": [ + 0.2, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "tongs" + ], + "cat": "tongs", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs006/model.xml" + }, + "reset_region": { + "size": [ + 1.7554623596487917, + 0.65 + ], + "offset": [ + 1.372269820175605, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4829822399999997, + 1.3 + ], + "offset": [ + 1.3084903799999998, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, 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+ "lang": "Stack the yogurt containers by placing the smaller containers on top of the larger containers.", + "fixture_refs": { + "stool": "stool_1_room", + "counter": "dining_dining_area_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml" + }, + "reset_region": { + "size": [ + 0.775999953911148, + 1.04 + ], + "offset": [ + -0.6370000230444259, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "yogurt_container2", + "obj_groups": "yogurt", + "object_scale": 1.3, + "placement": { + "fixture": "island_island_group_1", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..275bf83f9f678c0770d1d7599642ec5aa948417d --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 33, + "style_id": 53, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.13723445570650428, + 0.16108860008424633, + 0.07987846363500001 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + 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0000000000000000000000000000000000000000..11527c7b1904815d81b6e84e1c2767b2f6c6de59 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 11, + "style_id": 17, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + 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[ + 0.0, + 0.0, + 6.283185104363653 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bed0c53b1efb09c6ae4adfaf6dfe299c9df9b368 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 28, + "style_id": 26, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.13723445570650428, + 0.16108860008424633, + 0.07987846363500001 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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"mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9380286425732938, + -3.361872131260221, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707969506594903 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58990e6b5b4d7637b1406af8b5acc4c2356d784e --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,684 @@ +{ + "layout_id": 25, + "style_id": 26, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + 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+ "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "yogurt_container3", + "obj_groups": "yogurt", + "object_scale": 0.9, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.06175550506792692, + 0.07248987003791085, + 0.03594530863575 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + 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] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml" + }, + "reset_region": { + "size": [ + 2.095098, + 1.299989 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "yogurt_container3", + "obj_groups": "yogurt", + "object_scale": 0.9, + "placement": { + "fixture": "island_island_group_2", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.06318065421000005, + 0.06318066960000004, + 0.044287263067500034 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": 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0000000000000000000000000000000000000000..5bb8ca7bc2725d0bddb2c5be001c9547edf48bc2 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 21, + "style_id": 59, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.13723445570650428, + 0.16108860008424633, + 0.07987846363500001 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + 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b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f37e75f0f2b83acba2f0934b3a3ab5da7c5c1608 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,600 @@ +{ + "layout_id": 29, + "style_id": 16, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b53fc737b287e6855eb9f60800907383b3a76da7 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,555 @@ +{ + "layout_id": 56, + "style_id": 17, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + 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0000000000000000000000000000000000000000..7e0101e277bdd503693d1ec4bfbbe9b9a881954c --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 44, + "style_id": 24, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + 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a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3d38aeed1c7be754abb680b398869aeaef082e --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 33, + "style_id": 58, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.13723445570650428, + 0.16108860008424633, + 0.07987846363500001 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ 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a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16c4818155ee486be0ff419313080b7de4ac1366 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 44, + "style_id": 59, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ 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2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.13723445570650428, + 0.16108860008424633, + 0.07987846363500001 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6608347709585813, + 1.16985 + ], + "offset": [ + -0.7652881145207093, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "yogurt_container2", + "obj_groups": "yogurt", + "object_scale": 1.3, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.09126094497000006, + 0.09126096720000006, 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] +} \ No newline at end of file diff --git a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1aee1cf566367b36e1ffcbada78827c53dcb48d8 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 48, + "style_id": 38, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + 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a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..645b2d35bd837641491ef67403b497a07dd7b3bf --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 44, + "style_id": 38, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ 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a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3007c957c7ea2ad117bf9e3d8d9566fd9a136c1 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 27, + "style_id": 35, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.13723445570650428, + 0.16108860008424633, + 0.07987846363500001 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ 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b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95d7d08825e275b875ffb3b3938c3bab23db04c5 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 11, + "style_id": 53, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": 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"cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + 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"stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + 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containers on top of the larger containers.", + "fixture_refs": { + "stool": "stool_2_room", + "counter": "island_island_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": [ + 2.5815941721694946, + -5.606529860331632, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963610234394 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e63f20c3dc795a3ba8d9fc254bffd9a3944953cb --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 34, + "style_id": 22, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.13723445570650428, + 0.16108860008424633, + 0.07987846363500001 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8998000346101831, + 0.6007724187087531 + ], + "offset": [ + 0.3024000173050916, + 0.2889137906456236, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "yogurt_container2", + "obj_groups": "yogurt", + "object_scale": 1.3, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.09126094497000006, + 0.09126096720000006, + 0.06397049109750004 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8998000346101831, + 0.6007724187087531 + ], + "offset": [ + 0.3024000173050916, + 0.2889137906456236, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "yogurt_container3", + "obj_groups": "yogurt", + "object_scale": 0.9, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.06175550506792692, + 0.07248987003791085, + 0.03594530863575 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "yogurt" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8998000346101831, + 0.6007724187087531 + ], + "offset": [ + 0.3024000173050916, + 0.2889137906456236, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.853826749327212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5119634ae0ef0e753a82cb4c1751ca9c1615438 --- /dev/null +++ b/pretrain/composite/RecycleStackedYogurt/20250717/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 48, + "style_id": 58, + "object_cfgs": [ + { + "name": "yogurt_container1", + "obj_groups": "yogurt", + "object_scale": 2.0, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.1404014538000001, + 0.14040148800000007, + 0.09841614015000007 + ] + }, + "size": [ + 0.7, + 0.3 + ], + "pos": [ + 0, + "ref" + ] + }, + "type": "object", + "info": { + 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"coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "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" + }, + 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"fixture_refs": { + "fxtr": "oven_left_group_1", + "oven": "oven_left_group_1", + "counter": "counter_1_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": [ + 1.170811650851883, + -1.3427947887466427, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54a9daea560f02d3d38f4126e94c945d3b85dd6b --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 35, + "style_id": 39, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.001484587893097078, + 0.007471145706877291, + -0.12796236999809324 + ], + "size": [ + 0.5280805688426562, + 0.4704484027308083 + ], + "height": 0.11289428349840974, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + 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}, + "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" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_left_group_1", + "oven": "oven_left_group_1", + "counter": "counter_1_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": [ + 1.0805255265507883, + -2.597956584975974, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f72a3350f9d112a0a70d8758ffd78ba085cbb6a --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 45, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0026329797180221493, + -0.024841079792996226, + 0.00027661480410358613 + ], + "size": [ + 0.5831809941103181, + 0.42677116394145165 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 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_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": 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"cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": 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[ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.022930227501227293, + 0.00027661480410358613 + ], + "size": [ + 0.5443022611696301, + 0.3939426128690322 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.5, + 0.5 + ], + 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0000000000000000000000000000000000000000..e097fc1da7f95efb0372f9bce5f09984d95e9060 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 11, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015740904773706155, + -0.05081778141778559, + -0.04127909470065158 + ], + "size": [ + 0.5058282904628887, + 0.38620190826223266 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 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_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca481782797835325e33cdca5a7046e501b0322e --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 41, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.003552272449672822, + 0.0200473733935803, + -0.02137208055047561 + ], + "size": 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a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df0f152fffdcae221100673735e326b30273d2b3 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 34, + "style_id": 58, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + 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0000000000000000000000000000000000000000..dba8c1ab6965d2f4255698a26f0c9d94c4d06c6a --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 22, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.002632800148422515, + 0.02838666567039992, + 0.0002766218406292746 + ], + "size": [ + 0.5831810082754365, + 0.5024523412007833 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + }, + { + 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97c5155ffa39d86f1d2d0a7d6fa41e33c0735689 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 34, + "style_id": 22, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.026203076003446082, + 0.0002766218406292746 + ], + 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 31, + "style_id": 50, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.04690872130872517, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.3564940691651378 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + 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a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..791e02eaef2563a40b3cffeb8794bfc5533209b1 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 17, + "style_id": 45, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + 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{ + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "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": 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on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_left_group_1", + "oven": "oven_left_group_1", + "counter": "counter_1_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": [ + 1.1638511225608323, + -1.3147344839605726, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d0efa7f1ebd0e1b7df5c26f5ff387a9691ce43a --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 42, + "style_id": 44, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.04690872130872517, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.3564940691651378 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.9130081217401069, + 0.65 + ], + "offset": [ + 0.8259959391299467, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "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" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_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" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + 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"parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.14946748796074, + -4.175277514032469, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7052cc52757364dcedc384187c1971f3ebff9bd3 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,377 @@ +{ + "layout_id": 37, + "style_id": 44, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.04690872130872517, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.3564940691651378 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + 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"parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.03511877134656, + -1.9722486434865925, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3db66b72a437f80778983b45355bd67bb7df89ef --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 42, + "style_id": 35, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + 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"camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.16861497150661, + -4.167567351612772, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a7fa10d57af90953643bb79eba6ffd53d34bb0b --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 34, + "style_id": 22, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.026203076003446082, + 0.0002766218406292746 + ], + "size": [ + 0.5443022743904073, + 0.4638021611084153 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + 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+ 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d05058fb59960fc06f41d1b3b344a1f0fbea1fc --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 41, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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100644 index 0000000000000000000000000000000000000000..0e6e9f3fa106ece87472c57724662880dfa63350 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 26, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0026329797180221493, + -0.022930227501227293, + 0.00027661480410358613 + ], + "size": [ + 0.5831809941103181, + 0.3939426128690322 + ], + "height": 0.16346021575564584, + "name": 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"wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "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": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_right_group_1", + "oven": "oven_right_group_1", + "counter": "counter_1_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": [ + 4.0824430771922495, + -1.9326638309317594, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8300d6e7a6699c74fc9d1a77f5658fddda540f4 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 13, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0012275096492913584, + 0.003979299174462256, + -0.04676575413126787 + ], + "size": [ + 0.5212829759615172, + 0.2826590590445097 + ], + "height": 0.17916588803074446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "oven_front_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 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_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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_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" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "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": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b71a7ee8e8d9e9aea763795201d0f57f05cd9d6 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 42, + "style_id": 12, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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+ ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.003552272449672822, + 0.0200473733935803, + -0.02137208055047561 + ], + "size": [ + 0.5562461472479844, + 0.4275802516063978 + ], + "height": 0.17941404040769782, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_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" + }, + 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"style_id": 33, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.003552272449672822, + 0.0200473733935803, + -0.02137208055047561 + ], + "size": [ + 0.5562461472479844, + 0.4275802516063978 + ], + "height": 0.17941404040769782, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 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100644 index 0000000000000000000000000000000000000000..058aa739c437bfff9f739080e02e89228dc768d0 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 60, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.00154444140433449, + 0.015034199064861836, + -0.13888790037735682 + ], + "size": [ + 0.5693182663888519, + 0.3902418363581404 + ], + "height": 0.13790049117621658, + "name": "rack0" + } + 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..282f067cf7c734d0e51284fcb17a91f2d585b66d --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 30, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.003552272449672822, + 0.0200473733935803, + -0.02137208055047561 + ], + "size": 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"window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + 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"Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "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" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_front_group_1", + "oven": "oven_front_group_1", + "counter": "counter_1_front_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": [ + 3.0778559648815578, + -5.285997110318684, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0a4f0ece8b96ace6941ea669e94b8726d0572c8 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 29, + "style_id": 11, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.05081778141778559, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.38620190826223266 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/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" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_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": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "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" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + 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"stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "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": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_main_group", + "oven": "oven_main_group", + "counter": "counter_1_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": [ + 0.9042998957472929, + -1.162088881309939, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..164ee277da68a462c31a21d6f4dd8bd657cf642b --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 13, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.001315188909955023, + 0.003979299174462256, + -0.04676575413126787 + ], + "size": [ + 0.5585174742444827, + 0.2826590590445097 + ], + "height": 0.17916588803074446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + 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a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b58f64cd78f58029f2bdab0864f114018c96b72f --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 34, + "style_id": 20, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + 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1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab899725876cced64b21f6b38b82cb7079275fd6 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 29, + "style_id": 29, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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0000000000000000000000000000000000000000..54b7c82e2c58ce46e7d9e54583999d9d9cc49654 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,377 @@ +{ + "layout_id": 37, + "style_id": 47, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.00014228432647185596, + -0.009133747980802506, + -0.12953017493898192 + ], + "size": [ + 0.46209971028309305, + 0.39726728769313757 + ], + "height": 0.13071999431359174, + "name": "rack0" + } + }, + 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+ "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_left_group_1", + "oven": "oven_left_group_1", + "counter": "counter_1_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": 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 18, + "style_id": 13, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0012275096492913584, + 0.004310907439000769, + -0.03782524231205489 + ], + "size": [ + 0.5212829759615172, + 0.30621398063155225 + ], + "height": 0.14491358590721976, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.71, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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" 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at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e512e447b5f76d5004c6bc8a3386cd2af9c34c1f --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 35, + "style_id": 11, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + 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+ } + } + ], + "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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + 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"hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "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" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_left_group_1", + "oven": "oven_left_group_1", + "counter": "counter_1_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": [ + 1.022732530755418, + -3.6820234859130645, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3a2f931c0d49e04e4f789079f01f26081f1f52a --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 29, + "style_id": 51, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.00014228432647185596, + -0.009894893645869374, + -0.12953017493898192 + ], + "size": [ + 0.46209971028309305, + 0.4303728950008991 + ], + "height": 0.13071999431359174, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/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" + }, + 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}, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + 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+ "fxtr": "oven_main_group", + "oven": "oven_main_group", + "counter": "counter_1_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": [ + 0.9508369334520218, + -1.2248723679652367, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33286b557c68f59e64ba1504115a3f60b925e407 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,377 @@ +{ + "layout_id": 37, + "style_id": 28, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.000967725049666579, + 0.014792512974032473, + -0.017215759673667487 + ], + "size": [ + 0.5316172721732164, + 0.34443253763527776 + ], + "height": 0.06116274067654327, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + 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}, + "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": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_left_group_1", + "oven": "oven_left_group_1", + "counter": "counter_1_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, + 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0000000000000000000000000000000000000000..3df19a248e7c10ae022346c87b16db18f23cfbd2 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 29, + "style_id": 58, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.02838666567039992, + 0.0002766218406292746 + ], + "size": [ + 0.5443022743904073, + 0.5024523412007833 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/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" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + 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"init_robot_base_pos": [ + 0.9340498922450411, + -1.1786474600548695, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7644a16f2b5f1e23131f8cffec120268be8511c --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 27, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.001590629885461159, + 0.007471145706877291, + -0.12796236999809324 + ], + "size": [ + 0.5658006094742745, + 0.4704484027308083 + ], + "height": 0.11289428349840974, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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100644 index 0000000000000000000000000000000000000000..84334e1531a44f9ae6c4683875d30943a143551b --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 51, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.00014228432647185596, + -0.009133747980802506, + -0.12953017493898192 + ], + "size": [ + 0.46209971028309305, + 0.39726728769313757 + ], + "height": 0.13071999431359174, + "name": 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68ffcbe401fd558dbeb7c3784721b3a2b98c088c --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 42, + "style_id": 22, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.026203076003446082, + 0.0002766218406292746 + ], + 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a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac36b64ade592b106b201e20464d47f49d78e922 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 34, + "style_id": 35, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + 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0000000000000000000000000000000000000000..e6465d32804d70027d051e38ffd3534f1cb7a5f1 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 31, + "style_id": 27, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.001484587893097078, + 0.007471145706877291, + -0.12796236999809324 + ], + "size": [ + 0.5280805688426562, + 0.4704484027308083 + ], + "height": 0.11289428349840974, + "name": "rack0" + } + }, + { + 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a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a26b89aa7b5a34b6f862d8d06f7198fb9c89031c --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 27, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76ab7c298ef305e3b1c21eaebc4a244afb232875 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 42, + "style_id": 43, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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+} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b34b2ec0303dbffc7a7d0c2da7f5c2c756fa2ad --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 58, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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+ 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.16257649988374, + -4.18777395677912, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef192fb9c30c21a490c003a403973f60f1367801 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 17, + "style_id": 49, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014828449841116365, + 0.004718706781173462, + -0.15819309910306553 + ], + "size": [ + 0.5326169229840743, + 0.39182965063301123 + ], + "height": 0.3238811801496734, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/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": 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"object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.000967725049666579, + 0.014792512974032473, + -0.017215759673667487 + ], + "size": [ + 0.5316172721732164, + 0.34443253763527776 + ], + "height": 0.06116274067654327, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 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0000000000000000000000000000000000000000..cfea4a4b45a8880f189cec31d4a42bff5be6dc89 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 42, + "style_id": 25, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/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/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48bbda415163f03291b905e60b7d38f2a9946c03 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 46, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + 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"box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_right_group_1", + "oven": "oven_right_group_1", + "counter": "counter_1_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" + 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 32, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0017459811800873415, + -0.0468163964967862, + -0.0710980284424496 + ], + "size": [ + 0.5256805806934314, + 0.29086204139425387 + ], + "height": 0.18006921824196723, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + 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}, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_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" + }, + "floor_3_room": { + "cls": "Floor" + }, + 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0000000000000000000000000000000000000000..b40b1d9999a1b9b32b85be0aeaa03246851b4495 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 31, + "style_id": 15, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.04690872130872517, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.3564940691651378 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + }, + { + 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{ + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + 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1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de7968379c67a458e165a9bbe4b42283e73b2fab --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 37, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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], + "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_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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14c61f51c9baeaccaf694b19398208f54ac55a8c --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 29, + "style_id": 12, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.003552272449672822, + 0.021717987843045322, + -0.02137208055047561 + ], + "size": [ 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[ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f812962f23815ae705b1f4612452a525103a643 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 11, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 22, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.002632800148422515, + 0.02838666567039992, + 0.0002766218406292746 + ], + "size": [ + 0.5831810082754365, + 0.5024523412007833 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + 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"cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_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" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "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": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_main_group_1", + "oven": "oven_main_group_1", + "counter": "counter_1_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": [ + 0.929129156081479, + -0.7201355132051569, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed5c056e3310797b4cf1c7ae0d777a2752c667d --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 17, + "style_id": 15, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.04690872130872517, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.3564940691651378 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/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": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + 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{ + "cls": "Drawer" + }, + "box_left_group_1": { + "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": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_left_group_1", + "oven": "oven_left_group_1", + "counter": "counter_1_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": [ + 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--git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b34f9a1eacc420d3278afe7fd34cb2da708d3e4 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 35, + "style_id": 58, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + 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file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..738ea26e9e2bfb1424096190b3fc51fadda72220 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,377 @@ +{ + "layout_id": 37, + "style_id": 21, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + 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0000000000000000000000000000000000000000..74e63806cfdb857ba38a0aad4d1a20d41156cc54 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 34, + "style_id": 37, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.022930227501227293, + 0.00027661480410358613 + ], + "size": [ + 0.5443022611696301, + 0.3939426128690322 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + }, + { 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"fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.02838666567039992, + 0.0002766218406292746 + ], + "size": [ + 0.5443022743904073, + 0.5024523412007833 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + 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0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0012275096492913584, + 0.003979299174462256, + -0.04676575413126787 + ], + "size": [ + 0.5212829759615172, + 0.2826590590445097 + ], + "height": 0.17916588803074446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 40, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.026203076003446082, + 0.0002766218406292746 + ], + "size": [ + 0.5443022743904073, + 0.4638021611084153 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + 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"coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_front_group_1", + "oven": "oven_front_group_1", + "counter": "counter_1_front_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": [ + 3.107883076192361, + -5.307963101066936, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb043c2b46afefc69de48b2f18fccd02b913587d --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 42, + "style_id": 18, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.04690872130872517, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.3564940691651378 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + 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"microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2a431b98f225d56d3fdd54032f649eb0c0db9b8 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 35, + "style_id": 54, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0017796784952502087, + 0.04094524423522826, + -0.15461829639471378 + ], + "size": 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"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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + 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a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9fdacfdd623ab358bd6559ca972b98fadd6eed7 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,377 @@ +{ + "layout_id": 37, + "style_id": 26, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + 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0000000000000000000000000000000000000000..8f042127559bd15e7bc7ddbfd0d5228726cae6ac --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 42, + "style_id": 29, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.022930227501227293, + 0.00027661480410358613 + ], + "size": [ + 0.5443022611696301, + 0.3939426128690322 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + }, + { 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a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2377e236b806873614cc75130c7812c1ec46381 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 28, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + 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+ }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "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": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_main_group_1", + "oven": "oven_main_group_1", + "counter": "counter_1_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" + }, + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77bcf6c8574bbe7478ba7946563bb523748cf0bf --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 22, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.026203076003446082, + 0.0002766218406292746 + ], + "size": [ + 0.5443022743904073, + 0.4638021611084153 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "oven_front_group_1", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 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_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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + 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"cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "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" + }, + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ceec32b346e7aa7ead6819736ff23b48a53c7875 --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 31, + "style_id": 50, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": 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b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 15, + "style_id": 23, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0017459811800873415, + -0.0468163964967862, + -0.0710980284424496 + ], + "size": [ + 0.5256805806934314, + 0.29086204139425387 + ], + "height": 0.18006921824196723, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + 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0000000000000000000000000000000000000000..6179ac8bdcffe250dcea358b78e82af8d6fc83cc --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 37, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.022930227501227293, + 0.00027661480410358613 + ], + "size": [ + 0.5443022611696301, + 0.3939426128690322 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + }, + { 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+ "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Take the fish from the oven and place it on the plate on the counter.", + "fixture_refs": { + "fxtr": "oven_front_group_1", + "oven": "oven_front_group_1", + "counter": "counter_1_front_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": [ + 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0000000000000000000000000000000000000000..f420b65c87d899dc3e7818a991dc32bdf18b5f4b --- /dev/null +++ b/pretrain/composite/RemoveBroiledFish/20250805/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 29, + "style_id": 37, + "object_cfgs": [ + { + "name": "fish", + "obj_groups": "fish", + "object_scale": 0.9, + "placement": { + "fixture": "oven_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.024841079792996226, + 0.00027661480410358613 + ], + "size": [ + 0.5443022611696301, + 0.42677116394145165 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/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" + }, 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"groups": [ + "fish" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.022930227501227293, + 0.00027661480410358613 + ], + "size": [ + 0.5443022611696301, + 0.3939426128690322 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + }, + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.5, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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newline at end of file diff --git a/pretrain/composite/RetrieveMeat/20250728/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/RetrieveMeat/20250728/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2b8f96ad1643c813ebed7c1b922c766186781fb --- /dev/null +++ b/pretrain/composite/RetrieveMeat/20250728/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 33, + "style_id": 27, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": 8, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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--git a/pretrain/composite/RetrieveMeat/20250728/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/RetrieveMeat/20250728/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d465968a1cd87c8909f90ba5f7e6ea6d7f60b72f --- /dev/null +++ b/pretrain/composite/RetrieveMeat/20250728/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 38, + "style_id": 34, + "object_cfgs": [ + { + "name": "meat_container", + "obj_groups": "plate", + "placement": { + "fixture": 8, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "try_to_place_in": "plate" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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