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0000000000000000000000000000000000000000..f672e19c888ddb0d42ce33254666afc651f1c81b --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + 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--git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000056/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12599ef4849c3063f15cf59d4cc0d23ae00d86b4 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000064/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fce9395a6e586a27395b3386be530722174980e4 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000074/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e61e3ca4136d475d13409d0fc91055f642f7c819 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", 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--git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000076/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..31744e0f5a5f8ce71cb4070e29cc928879c59ba4 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + 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+{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + 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} + }, + "init_robot_base_pos": [ + 5.0745772176913855, + -2.275030210876738, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000079/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc2791b8a2f34474e55a1de7b5f20381a8b2545e --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91dd3451171afff8d6bfb47fe1a3b74393f67bb1 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000140/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000140/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0bfe6907c3314b9df8f7fafd5c993e7eea7d6055 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000140/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", 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+ "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.690042316670724, + -0.7799348575384102, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000145/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000145/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d909707e18e1d478e007d81878ec00bf983ef7a --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000145/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 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-1.9262232006679474, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000148/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000148/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8d364833e4f0ffd06a3eab4312b67a68d4aee4f --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000148/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": 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100644 index 0000000000000000000000000000000000000000..fe0ceed66753897c535555389f3607361f063f12 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000158/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ 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+{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5470704714618846, + 0.65 + ], + "offset": [ + -1.2264647642690578, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { 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0000000000000000000000000000000000000000..3556972799942cc6d19b51b9337ac7fc74a9e8e8 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000178/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 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0000000000000000000000000000000000000000..7c9aa700fd1240aa59c93607656706a752f9954a --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000180/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "untensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + 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+ "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "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": [ + 0.7534388205133264, + -1.8750829873116799, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000189/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000189/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47bb52d9a7a452f142c3ca01c1900358d45afc92 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000189/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + 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} + }, + "init_robot_base_pos": [ + 5.136569532787343, + -2.26621595574586, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000192/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000192/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2915a5527012f56d6e20739f1cebef0bd9d9431b --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000192/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": { + 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000208/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000208/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea20bbe5e101b188a735744a2e93dced94287bbd --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000208/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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"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": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000218/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000218/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4654107bb13f20a8335401b808f2e5c170a4742 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000218/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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" + }, 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000228/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + 0.9925000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, 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/dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000235/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.5670704714618844, + 0.65 + ], + "offset": [ + 0.716464764269058, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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--git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000249/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000249/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bbc0315e5487c90d6167599a268eadf7deffe61 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000249/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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[ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000276/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000276/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60ebe5754fefa016e276a7331207b5197e944505 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000276/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000300/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000300/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e02e14c6d5c00c7237b12c00237fc7848ec10e19 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000300/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000306/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000306/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b6778a43986a4a76e26f92a579d8ecc3bfd862c --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000306/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000311/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000311/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f510f9e9f04d228342f37425b2add1b67ab0080 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000311/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000337/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f3d67a5be6a00ec6460af5ce7c81ec0f00a050d --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000337/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + 0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000339/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000339/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18a356614ef2001837971c20ca2fb3d9c9755c0c --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000339/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000357/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24720248007000004, + 0.24572606796000004, + 0.012934327725 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml" + }, + "reset_region": { + "size": [ + 1.0150000000000001, + 0.65 + ], + "offset": [ + -0.9924999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": 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/dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000365/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + 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0000000000000000000000000000000000000000..3f0537d77d2fe16a16df896dd9c7287a2a226c61 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000395/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 2.4729331449141125, + 0.65 + ], + "offset": [ + 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+ "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "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": [ + 0.8038548301192558, + -1.8707490245653937, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000399/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000399/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d47419f93a2199a4115dfeb839794bdd2f51848 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000399/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml" + }, + "reset_region": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + -0.979626612490993, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": 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a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000404/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000404/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8cd30bfc4baeef6f84b24cd8ddc58fdad75c1a15 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000404/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000423/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml" + }, + "reset_region": { + "size": [ + 0.8488987903199252, + 1.55 + ], + "offset": [ + -0.8255506048400374, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + 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--git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000430/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000430/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b930aadb6127d98acab36fd616eb85da7557163c --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000430/ep_meta.json @@ -0,0 +1,391 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + 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file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000432/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000432/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..821fa5f81c3161efa9ce604a4c2f3592d3bcd0ed --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000432/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.232802852625, + 0.23286639915, + 0.014759147025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000442/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000442/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12b7b39951e86085fd35bdc4b234f32355cef1ee --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000442/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + 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--git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000450/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000450/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48c72f7a0ad33c8adf65f045921443b0eea5e6a5 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000450/ep_meta.json @@ -0,0 +1,382 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": 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{ + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "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": [ + 0.8194345169706124, + -2.030474617900249, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000455/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000455/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c72becc2ef505878f380531d9d6ec19f22d61e0f --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000455/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + 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"lang": "Turn on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.129775291347942, + -2.2075765181957494, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000458/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000458/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2df6d33b2acc24fa71949ea8d448174e20f746d5 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000458/ep_meta.json @@ -0,0 +1,481 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.247940875935, + 0.24539034402000004, + 0.01667049282 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1065022665543758, + 0.65 + ], + "offset": [ + -0.4417488667228121, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000459/ep_meta.json b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000459/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de40f60b8fb29b60820e09ee62ad2b623ce10b8e --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000459/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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on the sink and manuever the spout to wash all locations of the sink basin.", + "fixture_refs": {}, + "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 + ], + 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"sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.24568749157499997, + 0.24474791709000002, + 0.03850276869 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml" + }, + "reset_region": { + "size": [ + 0.6869331449141127, + 0.65 + ], + "offset": [ + 1.5565334275429432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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" + 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b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000467/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..59bb28db2446ae31ed65189f7ccdea37a710b8d4 --- /dev/null +++ b/target/composite/RinseSinkBasin/20250816/lerobot/extras/episode_000467/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "plate", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "test", + "mjcf_path": 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