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index 0000000000000000000000000000000000000000..c4c14bed22d1322df960424a4cd156bdce92596f --- /dev/null +++ b/pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 28, + "style_id": 15, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "placement": { + "fixture": "counter_1_island_group", + "size": [ + 0.35, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ], + "sample_region_kwargs": { + "loc": "left_right", + "ref": "blender_island_group", + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml", + "cat": "kiwi", + "split": "train", + "mjcf_path": 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+1,635 @@ +{ + "layout_id": 25, + "style_id": 48, + "object_cfgs": [ + { + "name": "fruit0", + "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml", + "placement": { + "fixture": "counter_2_right_group", + "size": [ + 0.35, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ], + "sample_region_kwargs": { + "loc": "left_right", + "ref": "blender_right_group", + "min_size": [ + 0.06833694022376162, + 0.09999916398829467, + 0.06596303001358675 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml", + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml" + }, + "reset_region": { + "size": [ + 0.879493396063142, + 0.65 + ], + "offset": [ + -0.6602533019684291, + 0.0, + 0.46 + ], + "name": "geom_0" + } + 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"cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "blender_right_group": { + "cls": "Blender" + }, + "blender_right_group_auxiliary_right_group": { + "cls": "BlenderLid" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + 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"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" + }, + 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b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f26fb941e5ff66d9f15137974d63728dabd0f82 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 36, + "style_id": 17, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + 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a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cca81a4bff55bd69838b820d9b1c15c0e5bfd0e --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 36, + "style_id": 40, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + 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[ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97e29a0c4840d4e8fa6cd3b60c0d53e404a008ec --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 16, + "style_id": 26, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + 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into the sink.", + "fixture_refs": { + "sink": "sink_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": [ + 0.8408384206876891, + -1.8562257000097429, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0afeab6786a51517fe98ae157c47ee8c4878697f --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,536 @@ +{ + "layout_id": 56, + "style_id": 36, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": 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"on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "cupcake" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + 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+ 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.107784820401227, + -2.254758232934273, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122340957374185 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ae349b7eace1287e709a4b9043200a537cf92c0 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 57, + "style_id": 27, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7508928969485823, + 0.65 + ], + "offset": [ + 1.0001955515257088, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cupcake", + "obj_groups": "cupcake", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cupcake_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "cupcake" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.1910983369485821, + 0.65 + ], + "offset": [ + -0.780092831525709, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { 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-0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11d4bf816a61a805291158eb86421cc60b7ab09d --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,416 @@ +{ + "layout_id": 34, + "style_id": 50, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + 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b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 53, + "style_id": 55, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8094515019160478, + 0.65 + ], + "offset": [ + 0.5976302490419763, + -3.469446951953614e-17, 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a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa88c950911187024941ec30ff2c1378f06c505 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 13, + "style_id": 29, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d979d8f5a33fecd186f5c1e256a4115d24cbc32 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 46, + "style_id": 44, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.3435886114798734e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76836ed1ad3c1b499caf4a88352b8c680159aa3b --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 53, + "style_id": 24, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + 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a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a790e2bba3a72e90cbf6dffaa9b13522b27e5d8 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 13, + "style_id": 36, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52132b183d731b3ff6d8ac71ed757a09f3c43ccb --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 42, + "style_id": 46, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6739341384582228, + 1.242 + ], + "offset": [ + 0.9710329307708887, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cupcake", + "obj_groups": "cupcake", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cupcake_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "cupcake" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.1448141384582224, + 1.242 + ], + "offset": [ + -0.7355929307708888, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + 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at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..064271ffbd39bc8b609fa5e1c080ea2d9745118c --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 59, + "style_id": 15, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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+ 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5857635497690774, + -2.118161736797674, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7832c5b4076cfb4539fb5f322cd7e0c7e74350eb --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 11, + "style_id": 36, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, 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"split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_11/model.xml" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_left_group", + "loc": "left_right", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.8704662259761804, + 0.65 + ], + "offset": [ + 0.7587668870119098, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "fixtures": { + "wall_left_1_room": { + 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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": [ + 0.7584665997033859, + -1.6545663714254326, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3de7fc01dce1a3f784f2f9bddf0b0d1595b3d34b --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 28, + "style_id": 51, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + 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"cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.6230575495183672, + 1.95 + ], + "offset": [ + -1.0884712252408164, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": 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b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..324c3062ccae92708c184c25444b7d94165cd19c --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 33, + "style_id": 55, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + 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--git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8335aa22544f1366b54915ff5c6a03a01d6a3186 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 35, + "style_id": 49, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + 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0000000000000000000000000000000000000000..72c976115127d6b154a8c3062a80f977a0c15fd0 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,581 @@ +{ + "layout_id": 29, + "style_id": 20, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": 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a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7673fabfb202a63bade882d58c5da8e24610ef0 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 53, + "style_id": 16, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + 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b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e948aa44db9a794b41a478ad462f51b15cb8ec40 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 13, + "style_id": 33, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + 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file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2569e2927239f82bcad64cd2c4bd7665a99efaa --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 45, + "style_id": 31, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + 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--git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d37d0c1c33089ffa1c7a667a4079d3289c605271 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,536 @@ +{ + "layout_id": 56, + "style_id": 26, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + 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b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5de6aca0db0b2ab60fbdfb330daf234bc52c8dd --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 50, + "style_id": 18, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + 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0000000000000000000000000000000000000000..3377ad474c0868f67b34517644ee61b005d9e8a5 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,479 @@ +{ + "layout_id": 54, + "style_id": 20, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + 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index 0000000000000000000000000000000000000000..bca9b6292d90d234b2ef20860ab7e9c4bcb314b6 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 36, + "style_id": 24, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { 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b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cfdefe6c82347b6a04835955af3808ffa2eb3ca3 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 36, + "style_id": 33, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + 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a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d96effcc70bc9dc61e3b83b77564938e83ec8bbe --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,509 @@ +{ + "layout_id": 51, + "style_id": 33, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + 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"/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 2.7355, + 0.65 + ], + "offset": [ + -1.48225, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_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": "Move the fresh-baked cupcake off the tray onto the counter, and place the bowl used for mixing into the sink.", + "fixture_refs": { + "sink": "sink_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 + ], + 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a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9111e2738530ddffa688977d3bb5a8e15e59f059 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,557 @@ +{ + "layout_id": 49, + "style_id": 18, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_11/model.xml" + }, + "reset_region": { + "size": [ + 0.866157721559559, + 0.650178 + ], + "offset": [ + 0.6100796392202208, + -3.469446951953614e-17, + 0.460003 + ], + "name": "geom_1" + } + }, + { + "name": "cupcake", + "obj_groups": "cupcake", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cupcake_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "cupcake" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.35, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.6575260215595589, + 0.650178 + ], + "offset": [ + -0.7143954892202207, + -3.469446951953614e-17, + 0.460003 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "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" + }, + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00016215342262304588 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..974490b2ce79261be9957645bbca8a6e10497de7 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 35, + "style_id": 25, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" 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b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45368d3374f0d0f1fb775f45aadda792d15fb3aa --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 58, + "style_id": 32, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + 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file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70d91dc507021e999bb52dc64d74bfa25b015c19 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 16, + "style_id": 55, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a18df3b37b2fb48a02c26454f7c83e02c35f227 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,581 @@ +{ + "layout_id": 12, + "style_id": 44, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2401133139000001, + 0.39815999550000014, + 0.06424606125000003 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3112081218688842, + 0.65 + ], + "offset": [ + -1.281395939065558, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cupcake", + "obj_groups": "cupcake", + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "cupcake_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "cupcake" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_11/model.xml" + } + }, + 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newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a38335e22efcd7bff3aed38d785cd33df02014b2 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 24, + "style_id": 41, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + 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a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01f4f5ece3a66c38a745c411da76ac6ab9058735 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 24, + "style_id": 34, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + 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/dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 36, + "style_id": 27, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + "size": [ + 1.3404536169485821, + 0.65 + ], + "offset": [ + 0.784023191525709, + 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index 0000000000000000000000000000000000000000..cb25eff7dbfcf4827d2d7358de51a0d6c9aa450a --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 58, + "style_id": 23, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + 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0000000000000000000000000000000000000000..1ed5809c115d87170b948e051044e897215460b6 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 53, + "style_id": 17, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2685077488800002, + 0.3744945036000001, + 0.037896749100000016 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_12/model.xml" + }, + "reset_region": { + 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b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 20, + "style_id": 18, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "tray" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7990033715595585, + 0.65 + ], + "offset": [ + 1.2884983142202204, + -3.469446951953614e-17, + 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3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..143f25aafd0480d95d6191f0c4363781a63dcfe5 --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 45, + "style_id": 33, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2920909194000001, + 0.3780000075600002, + 0.015034088160000004 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { + 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+ 0.0, + 0.0, + 3.4228548662085245e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..970c4c83cfdd0ae2317de2e0c8d11e45009e326e --- /dev/null +++ b/pretrain/composite/CupcakeCleanup/20250716/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,554 @@ +{ + "layout_id": 15, + "style_id": 39, + "object_cfgs": [ + { + "name": "cupcake_container", + "obj_groups": "tray", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "sink_island_group", + "loc": "left_right", + "top_size": [ + 0.6, + 0.4 + ], + "min_size": [ + 0.2569896201600001, + 0.37799999244000015, + 0.04006807560000002 + ] + }, + "size": [ + 0.35, + 0.5 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "tray" + }, + "type": "object", + "info": { 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b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5535b22fc8241671bf37dddd2910b41dd3910051 --- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,723 @@ +{ + "layout_id": 25, + "style_id": 33, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_4_island_group_2_2", + "pos": [ + null, + -0.7 + ], + "size": [ + 0.3, + 0.3 + ] + }, + "object_scale": [ + 1, + 1, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "peeler" + ], + "cat": "peeler", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 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--- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 38, + "style_id": 46, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_2_island_group_1_2", + "pos": [ + null, + -0.7 + ], + "size": [ + 0.3, + 0.3 + ] + }, + "object_scale": [ + 1, + 1, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "peeler" + ], + "cat": "peeler", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.5979999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "placement": { + "fixture": "stack_2_island_group_1_2", + "pos": [ + null, + -0.7 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file mode 100644 index 0000000000000000000000000000000000000000..edaef767b0591923541c36c6ef3224781f19626f --- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,555 @@ +{ + "layout_id": 27, + "style_id": 51, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_3_front_group_2", + "pos": [ + null, + -0.7 + ], + "size": [ + 0.3, + 0.3 + ] + }, + "object_scale": [ + 1, + 1, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "peeler" + ], + "cat": "peeler", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.36, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": 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"stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the drawer on the left and place the cutting tools on the cutting board.", + "fixture_refs": { + "drawer": "stack_07_island_group_1_3", + "counter": "island_1_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.051363854229661, + -2.103761004459849, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122376720160215 + ] +} \ No newline at end of file