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b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..798625bf6f6981d1355812afe64ea8f9f3a752cd --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 17, + "style_id": 59, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_1_left_group_1", + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.003349205476827516, + 0.08611485155160532, + 0.5386462690689253 + ], + "size": [ + 0.6367794677104182, + 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a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000008/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad7a7b509c5524edd73fc89daf0641b37079a538 --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,604 @@ +{ + "layout_id": 56, + "style_id": 20, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": 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file diff --git a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..378adefbbf2447e1b30d0b67cb04991dfd70ed0a --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,620 @@ +{ + "layout_id": 25, + "style_id": 60, + "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", + "bottled_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_2/model.xml" + }, + "reset_region": { + "offset": [ + 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a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000023/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08ad21578bcd4c29aa4c2d690498b3d4477dd092 --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,478 @@ +{ + "layout_id": 32, + "style_id": 40, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 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a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000037/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..742fd8eb1ff7cd48a50069a0d89fe5f7493dbd1f --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,491 @@ +{ + "layout_id": 56, + "style_id": 11, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_20/model.xml" + }, + "reset_region": { + "offset": [ + 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a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000038/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1928ffd442d3cedde7d7773206009a0d40afe73 --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 24, + "style_id": 24, + "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_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.18474779954104448, + 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a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000041/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f05b2bc5908dd96a6555d25eb51339b8fd1546 --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 60, + "style_id": 60, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000046/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94edf4ea09b88ef32feabcb66022104bd95a1aba --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 34, + "style_id": 47, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_left_group_1", + "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": "train", + "mjcf_path": 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file diff --git a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000078/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d1cd23897dbc35f5dd82e8e13c7f1a595bf0b2c --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,409 @@ +{ + "layout_id": 40, + "style_id": 34, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgefrenchdoor_right_group_1", + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005157122508441803, + 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b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,453 @@ +{ + "layout_id": 27, + "style_id": 30, + "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", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + }, + "reset_region": { + "offset": [ + -0.012142208719510522, + 0.08437463521775693, + 0.10007311547987242 + ], + "size": [ + 0.6159293930276601, + 0.5480441801831577 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + 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0000000000000000000000000000000000000000..26eb00f645f8733198e01b26b1814102baa346f4 --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,402 @@ +{ + "layout_id": 41, + "style_id": 31, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher008/model.xml" + }, + "reset_region": { + "offset": [ + 0.1993072184610508, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.40934075456637214, + 0.5584616837664541 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": 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file diff --git a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000090/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43d4b23ac4a7a6c176c1278e98e69fd315e5a828 --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,427 @@ +{ + "layout_id": 60, + "style_id": 23, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridgebottomfreezer_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "offset": [ 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file diff --git a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000101/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60e129ded77bad7e520b247c37c4b3381579dd3e --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,453 @@ +{ + "layout_id": 27, + "style_id": 37, + "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", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000105/ep_meta.json b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53b85f5dda97abc4f86e62d0de723cef4859576c --- /dev/null +++ b/pretrain/atomic/CloseFridge/20250819/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,510 @@ +{ + "layout_id": 27, + "style_id": 51, + "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", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": 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], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8111959172072979, + -3.6403185437669876, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000005/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbe558dbedbc1ca241c0b2b37bd23331ed6618ec --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 29, + "style_id": 54, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + 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+ ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_4/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.35600498, + 0.2260892, + 0.04888104 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0017796784952502087, + 0.04435734792149727, + 0.025485479055141716 + ], + "size": [ + 0.5200220865449521, + 0.5285395354909267 + ], + "height": 0.10540436895192352, + "name": "rack1" + } + } + ], + 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}, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + 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"stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the fish on the top rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9284934119472412, + -0.841388480595617, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000006/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9d11e109714ea4628c7e7ab9fc7bdcd95c89b19 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 35, + "style_id": 32, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 0.9639980356914049, + 0.65 + ], + "offset": [ + -0.8980009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.35600498, + 0.2260892, + 0.04888104 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0016295824347482002, + -0.04321513522780263, + -0.0710980284424496 + ], + "size": [ + 0.49063520864720256, + 0.2684880382100805 + ], + "height": 0.18006921824196723, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + 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"cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place the broccoli on the bottom rack of the oven.", + "fixture_refs": { + "oven": "oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": 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0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 1.06196025249004, + 0.65 + ], + "offset": [ + 1.1910698737549803, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + 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"bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + 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"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": [ + 0.7822769792993263, + -1.0789860549510961, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000010/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..629c49162bc53b7859e0b22324728d5ba8c01306 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 31, + "style_id": 25, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 1.4829822399999997, + 1.3 + ], + "offset": [ + 1.3084903799999998, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.3663939, + 0.2359, + 0.0481828 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ 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index 0000000000000000000000000000000000000000..e3925733bd7379689dee481ad018d7c8b95f4fce --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 35, + "style_id": 60, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + 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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": [ + 0.8188515829081524, + -2.664231701277787, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000015/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02e284f7323937c54610affcb2e8c944c60a79bb --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 29, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + 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"fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.40162557, + 0.23769502, + 0.052876 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.024841079792996226, + 0.00027661480410358613 + ], + "size": [ + 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"ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.35600498, + 0.2260892, + 0.04888104 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": 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{ + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0664558966214273, + -0.7723560628696118, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000017/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a615d04c24a7dd704ae47bda228be39103673f40 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,418 @@ +{ + "layout_id": 34, + "style_id": 48, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.096953160738713, + 0.65 + ], + "offset": [ + 1.1735734196306435, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.3663939, + 0.2359, + 0.0481828 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + 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"init_robot_base_pos": [ + 0.8003770616039522, + -3.401205146848062, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000021/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ae657d2c4f0cb6e29741c4b680f0d0ae22f1e9b --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 29, + "style_id": 18, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.37310549, + 0.24362185, + 0.0490851 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.05081778141778559, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.38620190826223266 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, 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"cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0155479562999536, + -0.8206390656098322, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa5b01c3f15219b2e49e49c2e5abd24d85c4d62 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,556 @@ +{ + "layout_id": 15, + "style_id": 42, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.36, + 0.22999858, + 0.035591 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml" + }, + "reset_region": { + "offset": [ + -0.00015244749264840818, + -0.009894893645869374, + 0.024080823901983097 + ], + "size": [ + 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+ "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + 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}, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the eggplant on the top rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.143283317986433, + -0.3302318585791208, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000023/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..265dc35afeb4216e2d835ac845b1f85436e74994 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,418 @@ +{ + "layout_id": 34, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1283301217401074, + 0.65 + ], + "offset": [ + 1.1578849391299466, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.3663939, + 0.2359, + 0.0481828 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024574477368206615, + -0.022930227501227293, + 0.00027661480410358613 + ], + "size": [ + 0.5443022611696301, + 0.3939426128690322 + ], + "height": 0.16346021575564584, + "name": "rack0" + } + } + ], + "fixtures": { + 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+ }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the fish on the rack of the oven.", + "fixture_refs": { + "oven": "oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8080622870330904, + -1.1400185098693416, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000024/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1f5880ebaae990cbe4c0f8a87fbe42470e3eeb --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,517 @@ +{ + "layout_id": 18, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.71, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.37310549, + 0.24362185, + 0.0490851 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0016295824347482002, + -0.0468163964967862, + -0.05750575829904011 + ], + "size": [ + 0.49063520864720256, + 0.29086204139425387 + ], + "height": 0.14564422063688523, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + 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"panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Place the broccoli on the bottom rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + 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mode 100644 index 0000000000000000000000000000000000000000..096e2b87030a46e592df6d36cdcfdc3acd6eed5b --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 35, + "style_id": 16, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.99849716397036, + 0.65 + ], + "offset": [ + -0.8807514180148199, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.35600498, + 0.2260892, + 0.04888104 + ] + }, + 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"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": [ + 0.8018325209123995, + -2.4422217456790625, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000026/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33a52569e7d52dd5f4cb888fcc72c483dcc3f956 --- /dev/null +++ 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"cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the potato on the top rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9907685514889986, + -0.8149716705635563, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000032/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01fe37e963977f8741fd230d65f889279e15480a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 42, + "style_id": 17, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.9182334053628993, + 0.65 + ], + "offset": [ + 0.8233832973185506, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.3663939, + 0.2359, + 0.0481828 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014414786440455352, + 0.013877722213718621, + -0.13888790037735682 + ], + "size": [ + 0.5313637152962617, + 0.3602232335613603 + ], + "height": 0.13790049117621658, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + 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"HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the chicken drumstick on the bottom rack of the oven.", + "fixture_refs": { + "oven": "oven_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": 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b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..966e23b25f5fbc4cfeabcf2df36dfd93dc2336b9 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,517 @@ +{ + "layout_id": 18, + "style_id": 43, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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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": [ + 0.794840618537959, + -2.485016526353924, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000043/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..744b0745e732d50c924800ffb748e6011563a8d3 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,556 @@ +{ + "layout_id": 15, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + 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"eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.39454932, + 0.25813196, + 0.05212232 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + "offset": [ + 0.001036848267499918, + 0.016025222388535182, + -0.017215759673667487 + ], + "size": 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"cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + 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a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000045/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4dc9015ce791f6d629dbd7d20dc56c8a36b3b39a --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 37, + "style_id": 56, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000048/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c76f2de0220edafc6ca0f60785e6f20e43b5441f --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 29, + "style_id": 21, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + 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}, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the potato on the rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, 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1.9689702159127918, + -0.8184597576918884, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000049/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1669f0347863ee430056bc24fdcc27df763f5195 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 35, + "style_id": 17, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0670334053628994, + 0.65 + ], + "offset": [ + -0.8464832973185502, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.36269097, + 0.2271769, + 0.051457249999999996 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray006/model.xml" + }, + "reset_region": { + "offset": [ + 0.003130737743691464, + 0.04657455300228301, + 0.036809060952582615 + ], + "size": [ + 0.5046332253363384, + 0.46034463795667013 + ], + "height": 0.09230769252105951, + "name": "rack1" + } + } + 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a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000050/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc341b58e10a6149503f0de5c72779f1aea34bc3 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 37, + "style_id": 13, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.0940063373000382, + 0.650008 + ], + "offset": [ + -0.8879153313499809, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.3663939, + 0.2359, + 0.0481828 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml" + }, + "reset_region": { + "offset": [ + -0.0012275096492913584, + 0.003979299174462256, + -0.04676575413126787 + ], + "size": [ + 0.5212829759615172, + 0.2826590590445097 + ], + "height": 0.17916588803074446, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + 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"pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7860307223353891, + -3.4254353857349815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000051/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..614028b0c401160c81044c33ada74a85f63c886e --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 42, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.9561999999999998, + 0.65 + ], + "offset": [ + 0.8044, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": 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a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000061/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a14d0e4a92e691644f56eefcadf250dd771525 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,556 @@ +{ + "layout_id": 15, + "style_id": 20, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000066/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87474acd94e7a5bc01c286d3563c3b10a17c1368 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 42, + "style_id": 16, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000067/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fd914ad47428f4c7846ebcb2ab6913d0d18b09f --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 39, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "oven_front_group_1", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + 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"stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place the eggplant on the rack of the oven.", + "fixture_refs": { + "oven": "oven_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.975990166228136, + -5.543573115172573, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000068/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ca3e9ec2f296923c6468472196430491bdabb00 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 31, + "style_id": 43, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5216732836254978, + 1.3 + ], + "offset": [ + 1.2891448581872509, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_3/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.3663939, + 0.2359, + 0.0481828 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014828449841116365, + 0.004718706781173462, + -0.15819309910306553 + ], + "size": [ + 0.5326169229840743, + 0.39182965063301123 + ], + "height": 0.3238811801496734, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + 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"Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the potato on the rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.175224385438695, + -2.5891581933223606, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000069/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd30d6d1e609e26a610a95cdb480ebdce213df8 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 29, + "style_id": 52, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], 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a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000071/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a394f3f29b2559fce503650dc3c08195bbbdce3 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,556 @@ +{ + "layout_id": 15, + "style_id": 25, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": 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b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96dc63beb18248efc641c4c06a563abb758a52a5 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 42, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + 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b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34be694bf9e459bc05884e19b1852b54cccc4c50 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,557 @@ +{ + "layout_id": 15, + "style_id": 46, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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"cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Place the potato on the bottom rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 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"ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.40162557, + 0.23769502, + 0.052876 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": 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index 0000000000000000000000000000000000000000..7eff4b20511942b89eac87328a6920f31ab67e22 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 31, + "style_id": 42, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + 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index 0000000000000000000000000000000000000000..5524914d485e81335d659e791986940547cc2657 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 35, + "style_id": 22, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 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"oven_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + 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rack of the oven.", + "fixture_refs": { + "oven": "oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + 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"placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_right_group_1", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 1.6674431803869254, + 0.65 + ], + "offset": [ + 1.1032784098065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.39454932, + 0.25813196, + 0.05212232 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0015740904773706155, + -0.04690872130872517, + -0.04127909470065158 + ], + "size": [ + 0.5058282904628887, + 0.3564940691651378 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + 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"cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the chicken drumstick on the rack of the oven.", + "fixture_refs": { + "oven": "oven_right_group_1", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + 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b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75a8809279e80775fed2617608a91a33ba9c5186 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 35, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": 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"stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Place the eggplant on the rack of the oven.", + "fixture_refs": { + "oven": "oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8170374488253354, + -2.4152342951281938, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000089/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4459c2f83190522a6f3145078d1e5655b95025b2 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 39, + "style_id": 47, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "oven_front_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_front_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.36269097, + 0.2271769, + 0.051457249999999996 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray006/model.xml" + }, + "reset_region": { + "offset": [ + -0.00014228432647185596, + -0.009133747980802506, + -0.12953017493898192 + ], + "size": [ + 0.46209971028309305, + 0.39726728769313757 + ], + "height": 0.13071999431359174, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" 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"lang": "Place the corn on the bottom rack of the oven.", + "fixture_refs": { + "oven": "oven_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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"obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.40162557, + 0.23769502, + 0.052876 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": 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"oven": "oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.053477693369447, + -0.2836669675848668, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000091/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cef190385fe1e06b0e849528b320768abbe27377 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 29, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.36269097, + 0.2271769, + 0.051457249999999996 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray006/model.xml" + }, + "reset_region": { + "offset": [ + 0.001484587893097078, + 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18, + "style_id": 54, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "oven_main_group", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 0.71, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.3663939, + 0.2359, + 0.0481828 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": 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"oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the sweet potato on the top rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9135875019162152, + -0.8258804242144415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000094/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82792064bb1f45faf4ed5b969ab043d9a7147d93 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 31, + "style_id": 49, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.4829822399999997, + 1.3 + ], + "offset": [ + 1.3084903799999998, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 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"Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + 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}, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Place the chicken drumstick on the bottom rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + 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"groups": [ + "oven_ready" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_3/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.36, + 0.22999858, + 0.035591 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml" + }, + "reset_region": { + "offset": [ + -0.00014228432647185596, + -0.009133747980802506, + 0.024080823901983097 + ], + "size": [ + 0.46209971028309305, + 0.39726728769313757 + ], + "height": 0.138944784975536, + 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0000000000000000000000000000000000000000..74204a421affc0de95937f540fab8721170256ab --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 31, + "style_id": 34, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 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+ "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": 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"Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Place the corn on the bottom rack of the oven.", + "fixture_refs": { + "oven": "oven_main_group_1", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1784008200345313, + -2.6542066537467925, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000099/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2c1d07ae3dd8551d9f0b385e0716d1c622b9d0 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 39, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "oven_front_group_1", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + "init_robot_here": true, + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 3.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "oven_ready", + "graspable": true, + "init_robot_here": false, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "oven_ready" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_front_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.39454932, + 0.25813196, + 0.05212232 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0024572801385276954, + 0.026203076003446082, + 0.0002766218406292746 + ], + "size": [ + 0.5443022743904073, + 0.4638021611084153 + ], + "height": 0.16346020253844512, + "name": "rack0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Place the fish on the rack of the oven.", + "fixture_refs": { + "oven": "oven_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + 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-0.27853901192166597, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000103/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f58039e723c0a5da07f950a71997809fa7c7a28 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,502 @@ +{ + "layout_id": 31, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "oven_main_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + 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"pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.781014121820296, + -3.515593708492733, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000109/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000109/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc831222dfc6fb645332cb987f31de98237fb863 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000109/ep_meta.json @@ 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000110/ep_meta.json b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000110/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e67883ff18f5c3210623e4b36706457717f659f5 --- /dev/null +++ b/pretrain/atomic/PickPlaceCounterToOven/20250819/lerobot/extras/episode_000110/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 35, + "style_id": 44, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "oven_left_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.45, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "plate" + }, + "type": "object", + 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+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "oven_tray", + "obj_groups": "oven_tray", + "placement": { + "fixture": "oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.36, + 0.22999858, + 0.035591 + ] + }, + "size": [ + 1.0, + 0.45 + ], + "pos": [ + 0, + -1.0 + ], + "rotation": [ + -0.1, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "oven_tray" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014691511122125883, + -0.04690872130872517, + -0.04127909470065158 + ], + "size": [ + 0.47210640443202934, + 0.3564940691651378 + ], + "height": 0.15978551137025446, + "name": "rack0" + } + } + ], + "fixtures": { + 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+{"task_index": 15, "task": "Place the fish on the bottom rack of the oven."} +{"task_index": 16, "task": "Place the potato on the top rack of the oven."} +{"task_index": 17, "task": "Place the chicken drumstick on the bottom rack of the oven."} +{"task_index": 18, "task": "Place the sweet potato on the top rack of the oven."} +{"task_index": 19, "task": "Place the broccoli on the top rack of the oven."} +{"task_index": 20, "task": "Place the steak on the bottom rack of the oven."} +{"task_index": 21, "task": "Place the eggplant on the bottom rack of the oven."} +{"task_index": 22, "task": "Place the potato on the bottom rack of the oven."} +{"task_index": 23, "task": "Place the broccoli on the rack of the oven."} +{"task_index": 24, "task": "PickPlaceCounterToOven"} diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000003/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34dee0dca13139d7107713d97122e7aee7483633 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 20, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_front_group_2", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.06308980039999999, + 0.12299138679999998, + 0.045259013599999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml" + }, + 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0000000000000000000000000000000000000000..5749c4ac271fe0e735e81dfbdae4c1336c3cf950 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 12, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_left_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.0718495437548659, + 0.06911163800124974, + 0.03349196968 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + 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"box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the bread from the bottom rack and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group", + "counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 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": [ + 0.8114980224620524, + -2.6745147205319237, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000006/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47dbf2a5713c5d76b953ab7d28d0d7664ab49d3f --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 51, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.051920347199999994, + 0.13356888439999998, + 0.0408936688 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + }, + "reset_region": { + "offset": [ + -9.022361900590248e-06, + 0.013378257524114735, + -0.011508426453557043 + ], + "size": [ + 0.296721392360375, + 0.23567304346185652 + ], + "height": 0.053151653073765945, + "name": "rack1" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5878374149632029, + 0.65 + ], + "offset": [ + -0.3974752925183985, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + 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"fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_5_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 7.240683004827901, + -3.890558346792652, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000009/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b8108cefa2f07b7aa5478de837729236b5bbcdb --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 11, + "style_id": 21, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.0718495437548659, + 0.06911163800124974, + 0.03349196968 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.03457625223186314, + 0.03763322440439901, + -0.05747742793623886 + ], + "size": [ + 0.38766377103563077, + 0.21077683218943538 + ], + "height": 0.0930761706709297, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_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", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.5357578375722173, + 0.65 + ], + "offset": [ + -0.29762108121389136, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + 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"init_robot_base_pos": [ + 3.297875523687908, + -0.7792120413154956, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000013/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4348f59c1e9c4d1eb65fbdd021e36e367bfc2e3 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 22, + "style_id": 11, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.0718495437548659, + 0.06911163800124974, + 0.03349196968 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.027638729081776253, + 0.008474063835738413, + -0.026178018351529938 + ], + "size": [ + 0.2684866763976854, + 0.2435767687593048 + ], + "height": 0.16942103833382702, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.39791217821142405, + 0.65 + ], + "offset": [ + 0.5110439108942879, + 0.0, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + 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+ "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.549394381064953, + -0.8356344097272153, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000016/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9178dbc134d327f56ed59acaf59afa757d5b4b22 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 29, + "style_id": 43, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.04716339263999999, + 0.07416328701599999, + 0.05596505999999999 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.027933296616445738, + 0.026364201721092342, + 0.013801863155141054 + ], + "size": [ + 0.33196963167962246, + 0.24031436149924065 + ], + "height": 0.08386938622447479, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + 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+ "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the bread from the rack and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.455525904621594, + -0.7787933232396607, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000017/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6406e50a2f4efeccd342e0069afdf1d0c2caa8b1 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 15, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_front_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.05537629959999999, + 0.11268193119999999, + 0.051440291199999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + }, + "reset_region": { + "offset": [ + -0.04460157939893641, + 0.01595843064738984, + -0.025430475283729218 + ], + "size": [ + 0.2913468217705509, + 0.18156273162100595 + ], + "height": 0.14828008286388575, + "name": "tray0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_front_group_1", + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.091998395951479, + 0.65 + ], + "offset": [ + 0.6540008020242605, + 0.0, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the hotdog bun from the tray and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_1", + "counter": "counter_1_front_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2101628954859585, + -5.654304795856604, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000019/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ea26387885765370faa99fc92145486d64a7cfe --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 54, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.051920347199999994, + 0.13356888439999998, + 0.0408936688 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + }, + "reset_region": { + "offset": [ + -0.04460157939893641, + 0.01595843064738984, + -0.025430475283729218 + ], + "size": [ + 0.2913468217705509, + 0.18156273162100595 + ], + "height": 0.14828008286388575, + "name": "tray0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", 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b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 59, + "style_id": 57, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.042546552608000006, + 0.077656434016, + 0.05804343216000001 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.02986247684836274, + 0.01922689569545548, + -0.056840931782154214 + ], + "size": [ + 0.3703446058049083, + 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counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + 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+ "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.03737584800000001, + 0.17942508000000004, + 0.026841866400000004 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.03716879861186374, + 0.03294131383247733, + -0.01648527940629306 + ], + "size": [ + 0.36356104990416716, + 0.27067303554654387 + ], + "height": 0.1253041269265433, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 2.1543160305572138, + 0.65 + ], + "offset": [ + 0.322841984721393, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + 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"init_robot_base_pos": [ + 2.1111380918738325, + -0.7930672935742855, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000029/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74a16f58db9c0ce4db967e84f65bf55e8ef934d2 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 29, + "style_id": 51, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.051920347199999994, + 0.13356888439999998, + 0.0408936688 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + }, + "reset_region": { + "offset": [ + -0.03590789786495605, + -0.004503462410343412, + 0.0033355106354862447 + ], + "size": [ + 0.30002629176151313, + 0.20319614499618663 + ], + "height": 0.1300644980972254, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.811135060358244, + 0.65 + ], + "offset": [ + 0.4944324698208779, + 0.0, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + 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a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000034/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0237e673702b31ea8c5387eeba2034ee7d2ad6ed --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 54, + "style_id": 42, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.07972828613294097, + 0.17526511652375384, + 0.05749441958808902 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000038/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0607988f006bc0d05b1c11f5b640ea82d3a272af --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 46, + "style_id": 31, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.06573377159999999, + 0.0694932994, + 0.059749379000000005 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": 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3.1415926193612504 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000042/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eaef0641604a6babbdead5c09f968344fe648404 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,399 @@ +{ + "layout_id": 52, + "style_id": 34, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.03737584800000001, + 0.17942508000000004, + 0.026841866400000004 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + 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"fixture_refs": { + "toaster_oven": "toaster_oven_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7867057494809022, + -1.261193675964131, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000045/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a607e2809640a3f58fa88ef98de3dcb49154d86 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 51, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.0688539852, + 0.06881660099999999, + 0.022149007999999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.04259176657431367, + 0.004250300934123208, + -0.022479910053447183 + ], + "size": [ + 0.37009054146254694, + 0.24045685668939507 + ], + "height": 0.0739867774129892, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_right_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.5823909153135931, + 0.65 + ], + "offset": [ + -0.4001985423432034, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the bread from the bottom rack and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_right_group_1", + "counter": "counter_5_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 7.257663375613655, + -3.8616994996402094, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000046/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eed0cb428df8091673047131a17c1fb37d15141c --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,470 @@ +{ + "layout_id": 46, + "style_id": 52, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.06667158119999997, + 0.0690531688, + 0.04913743999999999 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml" + }, + "reset_region": { + "offset": [ + -0.02018267226228755, + 0.017345326033035825, + 0.010306936817574087 + ], + "size": [ + 0.3067495692774834, + 0.1481913202822061 + ], + "height": 0.10232445049519254, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.30839405672498277, + 0.65 + ], + "offset": [ + 0.3456564716375086, + 0.0, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the bread from the rack and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 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mode 100644 index 0000000000000000000000000000000000000000..c35dec971de1c1593e33f12e6dcbafde9a3c26bf --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 36, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.059691164, + 0.12347050439999997, + 0.0516322032 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun005/model.xml" + }, + "reset_region": { + 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"placement": { + "fixture": "toaster_oven_left_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.03737584800000001, + 0.17942508000000004, + 0.026841866400000004 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.03187241426869833, + 0.028961822373346748, + -0.0040895276653853336 + ], + "size": [ + 0.28059366761016297, + 0.2722084884704362 + ], + "height": 0.10112628982423921, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": 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0000000000000000000000000000000000000000..61f62efaf8945b8f9841d31bd3aaccbf49643f9e --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 20, + "style_id": 60, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_front_group_2", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.042742601664000006, + 0.08011760075199999, + 0.08000673236 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_20/model.xml" + }, + "reset_region": { + "offset": [ + 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"cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick the bread from the tray and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_front_group_2", + "counter": "counter_1_front_group_2" + }, + "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": [ + 5.67182900662265, + -3.875667167140697, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000061/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1130244ae641ee755e6212f1d03e68a93ba9a05 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 56, + "style_id": 16, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.05537629959999999, + 0.11268193119999999, + 0.051440291199999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + }, + "reset_region": { + "offset": [ + -0.025036827364789356, + -0.005303339801324948, + -0.013618870178284457 + ], + "size": [ + 0.2950161832123914, + 0.2512981888872026 + ], + "height": 0.05705276486060132, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.8010970117869542, + 0.65 + ], + "offset": [ + 0.3891249941065228, + 0.0, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the hotdog bun from the bottom rack and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -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": [ + 4.128288722024414, + -0.7972084709470243, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000065/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..988e3af9006e6e5abf3561dc70f874af00c5934a --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,395 @@ +{ + "layout_id": 55, + "style_id": 60, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group_1", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.0718495437548659, + 0.06911163800124974, + 0.03349196968 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.0003878643434616358, + 0.016065429706493523, + -0.041294981790583205 + ], + "size": [ + 0.28311270251170345, + 0.18600546390042105 + ], + "height": 0.11224989574036262, + "name": "tray0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.6361982053063189, + 0.65 + ], + "offset": [ + 0.21805139734684054, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the bread from the tray and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group_1", + "counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ 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at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4937c95246496c36a7b58a8296be9bc35115802b --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 23, + "style_id": 14, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_left_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.06308980039999999, + 0.12299138679999998, + 0.045259013599999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + 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file mode 100644 index 0000000000000000000000000000000000000000..32cf90a55a7b44617d6cd0d2842ef45ae149f6e2 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 26, + "style_id": 33, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.0688539852, + 0.06881660099999999, + 0.022149007999999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + 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], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000085/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d8d49fb47c1e7f05e0cad1994850c4083aa2a34 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 26, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 0, + "min_size": [ + 0.0688539852, + 0.06881660099999999, + 0.022149007999999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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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": [ + 0.8287483428743532, + -3.8480855631974893, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000089/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f9857104ae143077002a09aaa626aaaf16f511c --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 26, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + 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+ "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the baguette from the rack and place it on the plate on the counter.", + "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_2_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": [ + 0.7248929638238352, + -0.8020524782595668, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 0 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000093/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84be70a38d5e39904fb4e95139869dc38d668896 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,480 @@ +{ + "layout_id": 16, + "style_id": 54, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_right_group_1", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.03737584800000001, + 0.17942508000000004, + 0.026841866400000004 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "bread_food" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.04150156624670141, + 0.013586690909937499, + 0.027144972321700166 + ], + "size": [ + 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"cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + 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"pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2452852490540973, + -5.024488542882817, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000095/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a09a8809f33bfe071f04f13bc40f9a371fb65312 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 22, + "style_id": 59, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + "object_scale": 0.8, + "placement": { + "fixture": "toaster_oven_main_group", + "sample_region_kwargs": { + "rack_level": 1, + "min_size": [ + 0.0718495437548659, + 0.06911163800124974, + 0.03349196968 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "bread_food" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.02987154736147111, + -0.006730360861428503, + 0.017636736783345843 + ], + "size": [ + 0.26043034344644483, + 0.21229582678985484 + ], + "height": 0.06884487552189919, + "name": "rack0" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "toaster_oven_main_group", + "loc": "left_right", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "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": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.48519970846593197, + 0.65 + ], + "offset": [ + 0.467400145767034, + 0.0, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "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" + }, 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+ "fixture_refs": { + "toaster_oven": "toaster_oven_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3626743832309907, + -0.7682499831522294, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000096/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f33dc9ffc37afff810704c87af623f0a003f2cf --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 34, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": 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+ "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8342180734569549, + -1.049562889708879, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "rack_level": 1 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000104/ep_meta.json b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66be71804e8721afd7504924dc74e3c29bb06cd1 --- /dev/null +++ b/pretrain/atomic/PickPlaceToasterOvenToCounter/20250819/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 49, + "style_id": 48, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "bread_food", + "graspable": true, + 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