diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000000/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2211f9450fc32813f3fde9ea2c9d09d5d43b77d --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cookie_dough_ball", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall008/model.xml" + }, + 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+ "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.1323136, + 0.244320368, + 0.0799136 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup009/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + 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"cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_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, + 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"name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.17012238254205664, + 0.01285438192129941, + 0.5311948742500949 + ], + "size": [ + 0.37549296241974783, + 0.3946066862490093 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.2599940797999999, + 0.2599929331999999, + 0.08604590539999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, 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--git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000007/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..813d1313da0302638d009f3afada5d21f7ccfe05 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,561 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml" + }, + "reset_region": { + "offset": [ + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..937bc9e456ef62f4c35b164415d4b4fe5874bd5a --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,409 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.21009813009897166 + ], + "size": [ + 0.6656846470611737, + 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newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000011/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0b1a292b8fd0ca7a2dcc10a24edb362de6cfa70 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,600 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_7/model.xml" + }, + "reset_region": { + 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0000000000000000000000000000000000000000..ddf1a4159a4ad1c2acacb7af2e64737549a27f4c --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,629 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,560 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun009/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + 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+1,452 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.13271259301848515 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.06354934677, + 0.0945, + 0.0633909969 + ] + }, + "size": [ 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+ "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_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/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b52794342ebfdf6be5482310ff013855864c770 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,600 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09431713873401872, + 0.1835105829355773 + ], + "size": [ + 0.4128378194384873, + 0.5356103330552707 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.06015626189999999, + 0.13335221429999997, + 0.04066842059999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17012238254205664, + 0.01285438192129941, + 0.5311948742500949 + ], + "size": [ + 0.37549296241974783, + 0.3946066862490093 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.15364547639999993, + 0.11905007219999994, + 0.1799999999999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": 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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": [ + 5.014978605679481, + -3.1115963004771574, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000099/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d944f3fda2a9c185d58c2b9e533ac72f6d9a1c0b --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.078542112, + 0.078911616, + 0.145425504 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cinnamon", + "spice" + ], + "groups": [ + "all" + ], + "cat": "cinnamon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon009/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": 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0000000000000000000000000000000000000000..3c527b622e609dea6914873bdbafb6999cf8ced4 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,599 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09444338166204168, + 0.5092108047621914 + ], + "size": [ + 0.4128378194384873, + 0.5358628189113166 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + 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0000000000000000000000000000000000000000..bf97e1baf35f2d1bcdc19da668576ce8d1912876 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,507 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + 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"fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cream_cheese_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cream_cheese_stick", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick012/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.13271259301848515 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.06549559433999999, + 0.09844756019999996, + 0.02493032453999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.14558433938999996, + 0.19008931850999994, + 0.16693780508999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "all" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + 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0000000000000000000000000000000000000000..d45a1edca72328ec65b4984d84e9f3161c10f69d --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000115/ep_meta.json @@ -0,0 +1,632 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000136/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000136/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a90c8ce0a1c5217a5ce014ca4ca09f4e180638f --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000136/ep_meta.json @@ -0,0 +1,595 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice012/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09431713873401872, + 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-0,0 +1,560 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.13271259301848515 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.0570834, + 0.05719882500000001, 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"liquor", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_9/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + 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"cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000143/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..090a94eaee31f303cf40c8e758d00b8812563a7e --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000143/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "alcohol", + "drink" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014527782289688873, + 0.06981058591882013, + 0.1844737151775919 + ], + "size": [ + 0.6856360152799493, + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000148/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f1cdd73694d021656f1a02a27a390da091ac10b --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000148/ep_meta.json @@ -0,0 +1,507 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turkey_slice" + ], + "groups": [ + "all" + ], + "cat": "turkey_slice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice010/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000149/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peach", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000150/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000150/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef275417998a65f4b9ec66e10770871a161d38fe --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000150/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17173226384380283, + 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0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.760684868649459, + -3.571633817359537, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000154/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000154/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c62501acb6d9e2345f676aef91016d5957ba4e3a --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000154/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread_flat", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_9/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.044956508000000006, + 0.18762923320000002, + 0.029542076849999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "test", + "mjcf_path": 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000156/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000156/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7994779b47bb747b087867aa913668b809a69025 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000156/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "dairy", + "drink", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_5/model.xml" + }, + "reset_region": { + "offset": [ + -0.0002632047656345171, + 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0000000000000000000000000000000000000000..cfe14cc74bc8cb9bded854db98c956dfe5919a1e --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000157/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_4/model.xml" + }, + "reset_region": { + "offset": [ + -0.012901757557804622, + -0.04411236332686859, + 0.20733839687653566 + ], + "size": [ + 0.6340515375869524, + 0.45862527440377643 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + 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+ "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebab_skewer", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kebab_skewer", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer005/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.12444179999999999, + 0.12371135999999999, + 0.023058679999999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread012/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000163/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.012931077750084452, + -0.04411236332686859, + 0.49889728832190305 + ], + "size": [ + 0.6339572030552696, + 0.45862527440377643 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_left_group", + 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newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000164/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000164/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e902b65adbcf5e0c8e3ef56081261329c93998fb --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000164/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard012/model.xml" + }, + "reset_region": { + "offset": [ + 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+ } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + 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0000000000000000000000000000000000000000..4daab38a28bbfd5757fdab70a74952955330277e --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000165/ep_meta.json @@ -0,0 +1,412 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.5174214961304935 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + 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--git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000166/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000166/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66aaff6650104adb82fa94edeee156687663ff09 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000166/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bar", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.17012238254205664, + 0.01285438192129941, + 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--- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000185/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml" + }, + "reset_region": { + "offset": [ + -0.0002632047656345171, + 0.10788939929975168, + 0.181412742979443 + ], + "size": [ + 0.7781439843759018, + 0.5543220166326962 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000208/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fc36086f622aed300b7ef73380e0e0422eb1e2a --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000208/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014527782289688873, + 0.06958483932993503, + 0.5474662028803855 + ], + "size": [ 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000221/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000221/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0863b04de22e2ce148b4796fce4924226f270c70 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000221/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_19/model.xml" + }, + "reset_region": { + "offset": [ + -0.000519890487119562, + 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000232/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000232/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..293734d954498f4ef59bb42fbd811410b01ca0c9 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000232/ep_meta.json @@ -0,0 +1,599 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09431713873401872, + 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-0,0 +1,580 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17173226384380283, + 0.013289167039569658, + 0.20678557824266253 + ], + "size": [ + 0.3785173113362588, + 0.3935935129768715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.09721456140000002, + 0.1099915454, + 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"groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_5/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": 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"top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_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, + 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0000000000000000000000000000000000000000..ed0cd4a5ac575ee4725aae03d9c50a0885421201 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000237/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + 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0000000000000000000000000000000000000000..c6236d899e3058fd0c191a1f1579c9b15dde7e2c --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000238/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.5174214961304935 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.055276523534382775, + 0.05917455395466168, + 0.13648500539999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "soap_dispenser", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/soap_dispenser/soap_dispenser_6/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.07225614546202529, + 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+ "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_2": 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0000000000000000000000000000000000000000..07968ee5a3802e914d9123ad2dcbf0e2cfde73c6 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000242/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_9/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014527782289688873, + 0.06981058591882013, + 0.1844737151775919 + ], + "size": [ + 0.6856360152799493, + 0.5172543487964222 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + 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\ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000251/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000251/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b37e32a0589b24a96a93cce37126ae4819a1260 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000251/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + 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], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.0954285, + 0.08675347, + 0.19210972 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "soap_dispenser", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser009/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.053500650805666655, + -1.3917437438768496, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000271/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000271/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5329443e88ec5f9fb331858c9ce25e8bf6e99d2 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000271/ep_meta.json @@ -0,0 +1,563 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "squash", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.05725431974999998, + 0.07499916149999997, + 0.05539815074999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.10784501093749999, + 0.15773464062499998, + 0.089548021875 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "teapot", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "teapot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.11320239359999999, + 0.1084002765, + 0.024911664549999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "waffle", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "waffle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": 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+ }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_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": [ + 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index 0000000000000000000000000000000000000000..fc2cee81a0d0d75d6c81e4486070a6b156f4aea9 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000274/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.037799265146988094, + 0.18158646237665382, + 0.012512721199558532 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spoon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_7/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + 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"wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + 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"salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_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": [ + 1.142340197486384, + -1.6777878773339778, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000282/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000282/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1771caa6744baa0ebb0a22134e28bc71139b8555 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000282/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.10784501093749999, + 0.15773464062499998, + 0.089548021875 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "teapot", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "teapot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_7/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + 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{ + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_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": [ + 0.1196255300763106, + -1.3803023224489253, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000286/ep_meta.json 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"fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "can", + "drink", + "group1" + ], + "groups": [ + "all" + ], + "cat": "can", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.21009813009897166 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.057615599999999996, + 0.0579264, + 0.104020692 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000319/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000319/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..875b1898fed0632a70830b2b9243dcadd5b221ed --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000319/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge010/model.xml" + }, + "reset_region": { + "offset": [ + 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--git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000320/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000320/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08aa096208fa6f71cfc4ddc3bf2965704822e5a7 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000320/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" + }, + "reset_region": { + "offset": [ + -0.0002632047656345171, + 0.10788939929975168, 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.12190446901499995, + 0.12012954182249994, + 0.046982772059999976 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + 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"lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_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": [ + 4.6172146049804255, + -1.6377917405527134, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000336/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000336/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9eab7537076bdd94644f82670d5a307768a4638 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000336/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "steak", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_4/model.xml" + }, + "reset_region": { + "offset": [ + 5.222870163282267e-05, + 0.10788939929975168, + 0.5507136994887958 + ], + "size": [ + 0.7775131174413674, + 0.5543220166326962 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.06225446749864242, + 0.09993637024000002, + 0.30354588547798156 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "wine", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_5/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000340/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000340/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..873ce4d52a164467fa3480740ac189e5afd5414d --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000340/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "can", + "drink", + "group1" + ], + "groups": [ + "all" + ], + "cat": "can", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_8/model.xml" + }, + 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{ + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.060819578999999985, + 0.151398924, + 0.05519029499999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + 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0000000000000000000000000000000000000000..097cc153267be7d091f205290a7d116ee8a9cb44 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000359/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": 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--git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000368/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000368/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..849db4288b8ed1f7d90cf4b618dfd8c5a514a301 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000368/ep_meta.json @@ -0,0 +1,493 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_6/model.xml" + }, + "reset_region": { + "offset": [ + 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}, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_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": 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000385/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..902b46224fb80303aa697145163fc379114887a0 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000385/ep_meta.json @@ -0,0 +1,529 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014527782289688873, + 0.06981058591882013, + 0.1844737151775919 + ], + "size": [ 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+ ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09444338166204168, + 0.5092108047621914 + ], + "size": [ + 0.4128378194384873, + 0.5358628189113166 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.07297004099999999, + 0.07297004099999999, + 0.15107757749999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "candle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_9/model.xml" 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-0,0 +1,505 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.13271259301848515 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.06722350592000001, + 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"fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "carrot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17173226384380283, + 0.013289167039569658, + 0.20678557824266253 + ], + "size": [ + 0.3785173113362588, + 0.3935935129768715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.04737476204999999, + 0.04737866264999999, + 0.16668901259999996 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": 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0000000000000000000000000000000000000000..06e6322c50d1dd47336cc87daa10b82d1b70c789 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000393/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0002632047656345171, + 0.10788939929975168, + 0.181412742979443 + ], + "size": [ + 0.7781439843759018, + 0.5543220166326962 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml" + }, + "reset_region": { + "offset": [ + -0.0002632047656345171, + 0.10788939929975168, + 0.181412742979443 + ], + "size": [ + 0.7781439843759018, + 0.5543220166326962 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.006818, + 0.175496, + 0.006854 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, 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+ 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000410/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000410/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43d113426fedb949db93ed8883f54d99a69aa53f --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000410/ep_meta.json @@ -0,0 +1,707 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "egg", + "split": "test", + "mjcf_path": 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mayonnaise", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mayonnaise", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise009/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.21009813009897166 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.06543858364999998, + 0.09170311886999996, + 0.052154047549999985 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mango", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_4/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + 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+} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000420/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000420/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53fca79c18c833245641feac8524b3535a3a8bf7 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000420/ep_meta.json @@ -0,0 +1,538 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_8/model.xml" + }, + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000421/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000421/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbd16a77902c107f577e48ee21d7377fd11e0848 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000421/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "garlic", + "split": "test", + "mjcf_path": 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000429/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000429/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e128a0dc9bab7f7dbd6948ac876c27127021170 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000429/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17173226384380283, + 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0000000000000000000000000000000000000000..f4f5f9f9bb23fa4ca681c3589998c8d1bb25c89a --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000443/ep_meta.json @@ -0,0 +1,597 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.06578865892750749, + -0.18350830734475307 + ], + "size": [ + 0.4128378194384873, + 0.5930299761881288 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": 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+ }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_7/model.xml" + }, + "reset_region": { + "offset": [ + -0.012901757557804622, + -0.04411236332686859, + 0.20733839687653566 + ], + "size": [ + 0.6340515375869524, + 0.45862527440377643 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.049178555999999984, + 0.14999999999999997, + 0.053885186999999994 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.051780095999999984, + 0.11999999999999995, + 0.051202324799999976 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_6/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" 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}, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + 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--- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000446/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.5174214961304935 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000489/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000489/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8b9ff135354c5690f85a808dc47da9fdf7202ad --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000489/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_6/model.xml" + }, + "reset_region": { + "offset": [ + -0.012931077750084452, + 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-3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000497/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000497/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..727dcb064146804b328da469683a26b2c3ae8689 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000497/ep_meta.json @@ -0,0 +1,564 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml" + 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"door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.08272048, + 0.18660716800000002, + 0.064540256 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup012/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": 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0000000000000000000000000000000000000000..fd8f212e9f50a66990d8a17ae9795015eae4cd33 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000501/ep_meta.json @@ -0,0 +1,654 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" + ], + "groups": [ + "all" + ], + "cat": "beer", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.06578865892750749, + -0.18350830734475307 + ], + "size": [ + 0.4128378194384873, + 0.5930299761881288 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + 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diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000504/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000504/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e412765eba4a796ddf6c6297aff9af2b06288ee9 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000504/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.17012238254205664, + 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