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+ "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/Peeler001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8338369999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "placement": { + "fixture": "stack_5_dining_area_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", + "knife", + "utensil" + ], + "groups": [ + "knife" + ], + "cat": "knife", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, 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b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e63b5c3d255425b2afea2f246b345a45b49f2d2 --- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 32, + "style_id": 27, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_1_right_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/Peeler002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 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end of file diff --git a/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79c63d900569df9f69a0694012f6a94d32a04043 --- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,562 @@ +{ + "layout_id": 13, + "style_id": 24, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_4_main_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": 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+ ] +} \ No newline at end of file diff --git a/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..114e10779a32774c5f045d2f39656774bd83ea7e --- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 28, + "style_id": 51, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_1_main_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": 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--- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,591 @@ +{ + "layout_id": 56, + "style_id": 32, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_03_main_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": [ + 0.6779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "placement": { + "fixture": "stack_03_main_group_1_2", + "pos": [ + null, + -0.7 + 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--- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 23, + "style_id": 20, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "bottom_right_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/Peeler002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.6779999999999999, + 0.71 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "placement": { + "fixture": "bottom_right_group_2", + "pos": [ + null, + -0.7 + ], + 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"peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_03_main_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/Peeler001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.469374, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "placement": { + "fixture": "stack_03_main_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", + "knife", + "utensil" + ], + "groups": [ + "knife" + 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No newline at end of file diff --git a/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd56dd474d56e7c19f158c375e2eb82cda8fd93e --- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 33, + "style_id": 40, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_1_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": 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--- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 32, + "style_id": 11, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_1_island_group_1_3", + "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": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "placement": { + "fixture": "stack_1_island_group_1_3", + "pos": [ + null, + -0.7 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4468613c0c75540da4d93287801ef8525596128 --- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,638 @@ +{ + "layout_id": 12, + "style_id": 52, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_4_main_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", + 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--- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 22, + "style_id": 37, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_2_left_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, + -0.044 + ], + "size": [ + 0.6779999999999999, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "placement": { + "fixture": "stack_2_left_group_2", + "pos": [ + null, + -0.7 + ], + 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--- /dev/null +++ b/pretrain/composite/GatherCuttingTools/20250730/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 57, + "style_id": 21, + "object_cfgs": [ + { + "name": "peeler", + "obj_groups": "peeler", + "placement": { + "fixture": "stack_07_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": [ + 0.5969879999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "knife", + "obj_groups": "knife", + "placement": { + "fixture": "stack_07_island_group_1_2", + "pos": [ + null, + 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e12f5ae929666539d7b41e0f74965713fbf208f --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,387 @@ +{ + "layout_id": 44, + "style_id": 59, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + 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--git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25348fe0c0583766cda5c90d0592fd672a56fed8 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,371 @@ +{ + "layout_id": 55, + "style_id": 17, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94041d47c6454897cc67148e857cf233322efa7a --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 20, + "style_id": 46, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ 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b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,386 @@ +{ + "layout_id": 44, + "style_id": 33, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0038110736702231807, + -0.024734373509031543, + -0.20953974374125964 + ], + "size": [ + 0.6468094657780432, + 0.345544667275835 + ], + "height": 0.2053193736978915, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": 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"microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "singlecabinet_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, + 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0000000000000000000000000000000000000000..002d06338571704d51ddfc124b0f0fbca40767eb --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,491 @@ +{ + "layout_id": 22, + "style_id": 22, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/soap_dispenser/soap_dispenser_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2234266545150822, + -0.001252357618651917, + -0.25239914471674074 + ], + "size": [ + 0.4068430785212167, + 0.38341415728354855 + ], + "height": 0.19991324859598003, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser003/model.xml" + }, + "reset_region": { + "offset": [ + -0.2234266545150822, + -0.001252357618651917, + -0.25239914471674074 + ], + "size": [ + 0.4068430785212167, + 0.38341415728354855 + ], + "height": 0.19991324859598003, + "name": "basin" + } + } + ], + "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" + }, + 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"Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the soap dispenser and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_1_left_group", + "cabinet": "cab_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, + 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0000000000000000000000000000000000000000..d1ee67713f6074a5c2856075502c5cf5af555bde --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 57, + "style_id": 60, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + } + ], + "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_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "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" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "hingecabinet_4_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.783721375347419, + -2.2300580308981286, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac36809a622818e238f419d93be13b00917c5ce --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 28, + "style_id": 53, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/soap_dispenser/soap_dispenser_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.1138694192140215, + -0.023496964265551784, + -0.25052084143931236 + ], + "size": [ + 0.4087696250877586, + 0.3033832247943492 + ], + "height": 0.18462743369276513, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + 0.1138694192140215, + -0.023496964265551784, + -0.25052084143931236 + ], + "size": [ + 0.4087696250877586, + 0.3033832247943492 + ], + "height": 0.18462743369276513, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_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_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + 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"stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the soap dispenser and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_main_group", + "cabinet": "cab_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": [ + 3.04960211787127, + -0.834518154166726, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c060463fbea4d4e738111e40cdccfd7acf4ce613 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 47, + "style_id": 52, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.22636847405539381, + -0.037331545695421964, + -0.10636635913346226 + ], + "size": [ + 0.3486870917034634, + 0.37482594342604536 + ], + "height": 0.1200625960861264, + "name": "basin_right" + } + } + ], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_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" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "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": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the sponge and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_4_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": [ + 6.189303755628981, + -2.489532017040238, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5eb789b7c67b9f8503bea479188af7152d30832a --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 26, + "style_id": 35, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_front_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.09924350770594688, + 0.0014518934752891371, + -0.15147224954333016 + ], + "size": [ + 0.2945765662544736, + 0.31059970897591727 + ], + "height": 0.12093295935985701, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_front_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_3/model.xml" + }, + 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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": [ + 4.026913463956815, + -4.311009243411987, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5707957029303028 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b49d93800127424d48f2ca6b656ad8f068a50f22 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 12, + "style_id": 44, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.06517741141494493, + -0.024395080242305967, + -0.22206354385833346 + ], + "size": [ + 0.3445961465834447, + 0.39989720086417463 + ], + "height": 0.13494754823873578, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/model.xml" + }, + 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"Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and sponge from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_1_main_group", + "cabinet": "cab_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": [ + 2.293952432777513, + -0.7965114316136992, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02030b3682f11d74971b829358c246c9fc239dfc --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 23, + "style_id": 24, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.21500250718720276, + -0.041432212610281516, + -0.22800612393871678 + ], + "size": [ + 0.28606758145866207, + 0.3676055948766946 + ], + "height": 0.12750776516385834, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + 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"cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and sponge from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_1_main_group", + "cabinet": "cab_3_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": [ + 2.801167672169374, + -0.8410291337619727, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5a91e56d24bad65b900a8306184503ad5e0ba2f --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 45, + "style_id": 56, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.08859243445587664, + -0.02640544440266982, + -0.26461227402226983 + ], + "size": [ + 0.4395012936257235, + 0.25274328803092105 + ], + "height": 0.22407777028190023, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + -0.08859243445587664, + -0.02640544440266982, + -0.26461227402226983 + ], + "size": [ + 0.4395012936257235, + 0.25274328803092105 + ], + "height": 0.22407777028190023, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_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": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "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": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "hingecabinet_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": [ + 2.7827855971228335, + -0.802173522201775, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3670e08f4d6b6b7b2324b58a117b6e6f4afaf5 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 26, + "style_id": 51, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_front_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + -0.18172511580648798, + -0.01695322675879661, + -0.26930880011384073 + ], + "size": [ + 0.2790416587967839, + 0.323237158319961 + ], + "height": 0.1981160992416856, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_front_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser003/model.xml" + }, + "reset_region": { + "offset": [ + -0.18172511580648798, + -0.01695322675879661, + -0.26930880011384073 + ], + "size": [ + 0.2790416587967839, + 0.323237158319961 + ], + "height": 0.1981160992416856, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_1_front_group", + "cabinet": "cab_1_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.919741441410309, + -4.353964971218181, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5707957029303028 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ebbf9d62178df54f644efe7bb26bceaec6233dd --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 11, + "style_id": 45, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001048280504270166, + -0.023965764627959338, + -0.2560120153989775 + ], + "size": [ + 0.6666555912757592, + 0.3634980639281301 + ], + "height": 0.1751527011932374, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.001048280504270166, + -0.023965764627959338, + -0.2560120153989775 + ], + "size": [ + 0.6666555912757592, + 0.3634980639281301 + ], + "height": 0.1751527011932374, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_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_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick up the sponge and sponge from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_left_group", + "cabinet": "cab_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7925541439927994, + -1.7077034876037562, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..825066db6801c8d73ea78388f1908726194f2e4c --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 46, + "style_id": 38, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + } + ], + "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" + }, + 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"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": [ + 4.3524733032144525, + -2.6485356366729733, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..145a01574bc9931abdc49acb7ba8b0c936618bd2 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 25, + "style_id": 60, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 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+ "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": 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"cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": 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"HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b588cb015b1e3825f02220c249a4df0307b7786f --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 31, + "style_id": 22, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + 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+ "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + 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0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.134249667114478, + -4.195070382360271, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..63e14be7de89f85837acceb598d9388872fd1870 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,395 @@ +{ + "layout_id": 58, + "style_id": 19, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.23437353368904895, + -0.02612845102737396, + -0.23104242983236573 + ], + "size": [ + 0.4210537290570493, + 0.41255406170996073 + ], + "height": 0.1927349277575648, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser003/model.xml" + }, + "reset_region": { + "offset": [ + 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b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 12, + "style_id": 49, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.047256816820756484, + -0.0004671400310335347, + -0.1421234857516468 + ], + "size": [ + 0.4434392364971912, + 0.17437074656821322 + ], + "height": 0.07197232028597139, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2cb091727cc0905c40cded9a709de29e35982a7 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 35, + "style_id": 19, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37052a9127c7392449d5f50f0d8de6de589ff500 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,388 @@ +{ + "layout_id": 44, + "style_id": 55, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3bc285dc5fdc5351a4ae3897fec9ff90943cc989 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 13, + "style_id": 40, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": 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"counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "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" + }, + 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"cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": 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"fixture_refs": { + "sink": "sink_1_main_group_1", + "cabinet": "cab_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8195045128533125, + -0.7736173766675309, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4fea46f712176e3bc2c283412d7f1fc1c12a6e28 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 47, + "style_id": 54, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + 0.10387829516053644, + -0.02077867703071555, + -0.31300544469868485 + ], + "size": [ + 0.4981746707950314, + 0.4024169666711226 + ], + "height": 0.22843287994322964, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + 0.10387829516053644, + -0.02077867703071555, + -0.31300544469868485 + ], + "size": [ + 0.4981746707950314, + 0.4024169666711226 + ], + "height": 0.22843287994322964, + "name": "basin" + } + } + ], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + 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} + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_4_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": [ + 6.143749772285009, + -2.5764920861035225, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b88335e3ffc39dde7d0439082cc265da263ceb23 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 46, + "style_id": 44, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.06517741141494493, + -0.024395080242305967, + -0.22206354385833346 + ], + "size": [ + 0.3445961465834447, + 0.39989720086417463 + ], + "height": 0.13494754823873578, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.06517741141494493, + -0.024395080242305967, + -0.22206354385833346 + ], + "size": [ + 0.3445961465834447, + 0.39989720086417463 + ], + "height": 0.13494754823873578, + "name": "basin" + } + } + ], + "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 up the bar soap and sponge from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_front_group_1", + "cabinet": "singlecabinet_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": [ + 4.5042392413074035, + -2.6504899015881676, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64e1f0abf552684c5228be44a604cadecb8cf48d --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 25, + "style_id": 11, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.08859243445587664, + -0.02640544440266982, + -0.26461227402226983 + ], + "size": [ + 0.4395012936257235, + 0.25274328803092105 + ], + "height": 0.22407777028190023, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser006/model.xml" + }, + "reset_region": { + "offset": [ + -0.08859243445587664, + -0.02640544440266982, + -0.26461227402226983 + ], + "size": [ + 0.4395012936257235, + 0.25274328803092105 + ], + "height": 0.22407777028190023, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_1_left_group", + "cabinet": "cab_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" + }, + 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+ 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04418fd5f48a1724c89bd822c675bbe1ace9c530 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 46, + "style_id": 24, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": 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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/ReturnWashingSupplies/20250717/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08458e6876dc3eb3b2cbd2aa1c3d2be17ef9ce51 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 19, + "style_id": 30, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": 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at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68d2c2a14b9e9bbd006e5c353bbd259dffe43efa --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,344 @@ +{ + "layout_id": 40, + "style_id": 23, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + 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+ ], + "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": [ + 2.2983202460057317, + -2.2979616699751158, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2eebc5659b5864a93957c10699b3b72df0eee236 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,426 @@ +{ + "layout_id": 54, + "style_id": 31, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + -0.0038110736702231807, + -0.024734373509031543, + -0.20953974374125964 + ], + "size": [ + 0.6468094657780432, + 0.345544667275835 + ], + "height": 0.2053193736978915, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.0038110736702231807, + -0.024734373509031543, + -0.20953974374125964 + ], + "size": [ + 0.6468094657780432, + 0.345544667275835 + ], + "height": 0.2053193736978915, + "name": "basin" + } + } + ], + "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" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_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" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26abc91fa2e9df537739206ac07ca0fabd47f0ae --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 53, + "style_id": 11, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/soap_dispenser/soap_dispenser_0/model.xml" + }, + 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"paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick up the soap dispenser and bar soap from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "singlecabinet_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + 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[ + 0.0, + 0.0, + 1.5706343213793446 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40187983a8763fa1c9ac7590425b9a780ae6019c --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 35, + "style_id": 50, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.00030809989081061195, + -0.01692748628178603, + -0.19092784069069108 + ], + "size": [ + 0.4310091247266947, + 0.4318208893193016 + ], + "height": 0.12335516368564185, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + 0.00030809989081061195, + -0.01692748628178603, + -0.19092784069069108 + ], + "size": [ + 0.4310091247266947, + 0.4318208893193016 + ], + "height": 0.12335516368564185, + "name": "basin" + } + } + ], + "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": { 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"cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_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 + ], + 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-2.0728794901103123, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f1204c3f338cd76edb609ec913682f8239879e0 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 20, + "style_id": 39, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + 0.21500250718720276, + -0.041432212610281516, + -0.22800612393871678 + ], + "size": [ + 0.28606758145866207, + 0.3676055948766946 + ], + "height": 0.12750776516385834, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.21500250718720276, + -0.041432212610281516, + -0.22800612393871678 + ], + "size": [ + 0.28606758145866207, + 0.3676055948766946 + ], + "height": 0.12750776516385834, + "name": "basin_right" + } + } + ], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + 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"stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "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": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and bar soap from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_1_left_group", + "cabinet": "cab_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": [ + 0.7970617447077867, + -1.6695849850127007, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..782f29639be4ab1d3f418976550a36b8e152196c --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 51, + "style_id": 37, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.114814220890639, + -0.0332509482965441, + -0.26344095561424385 + ], + "size": [ + 0.41675232205772766, + 0.4000341858437333 + ], + "height": 0.22770993541680842, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser006/model.xml" + }, + "reset_region": { + "offset": [ + -0.114814220890639, + -0.0332509482965441, + -0.26344095561424385 + ], + "size": [ + 0.41675232205772766, + 0.4000341858437333 + ], + "height": 0.22770993541680842, + "name": "basin" + } + } + ], + "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": 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"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 up the sponge and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "singlecabinet_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": [ + 3.969361769629746, + -0.8073031724025117, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0c8772a8c772bd5ac50eb37d17becfd0d559f61 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 60, + "style_id": 48, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + 0.13265446815189705, + -0.02653376993221513, + -0.2274350761583751 + ], + "size": [ + 0.2924745079187015, + 0.2707687984018085 + ], + "height": 0.15310045364680483, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.13265446815189705, + 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"WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_left_group_1", + "cabinet": "hingecabinet_01_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": [ + 2.3560804943320575, + -2.317166692038102, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1aefea368477a347438be33b7cd5e564915c8a90 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 42, + "style_id": 42, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + 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"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" + }, + 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"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": "Pick up the bar soap and sponge from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "hingecabinet_4_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": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ccd092e7bd667fcfc64ce2425359651c3ded14d3 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 32, + "style_id": 35, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.09924350770594688, + 0.0014518934752891371, + -0.15147224954333016 + ], + "size": [ + 0.2945765662544736, + 0.31059970897591727 + ], + "height": 0.12093295935985701, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.09924350770594688, + 0.0014518934752891371, + -0.15147224954333016 + ], + "size": [ + 0.2945765662544736, + 0.31059970897591727 + ], + "height": 0.12093295935985701, + "name": "basin_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "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_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and sponge from the sink, and place them back in the shelves.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "opencabinet_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": [ + 3.3125595074307235, + -0.8078650727145903, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80a88a2227bb58801a449ee87cb3e7fb69714f86 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,425 @@ +{ + "layout_id": 54, + "style_id": 54, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.10387829516053644, + -0.02077867703071555, + -0.31300544469868485 + ], + "size": [ + 0.4981746707950314, + 0.4024169666711226 + ], + "height": 0.22843287994322964, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.10387829516053644, + -0.02077867703071555, + -0.31300544469868485 + ], + "size": [ + 0.4981746707950314, + 0.4024169666711226 + ], + "height": 0.22843287994322964, + "name": "basin" + } + } + ], + "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" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_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" + }, + "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" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + 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+ "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + 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"gen_textures": {}, + "lang": "Pick up the bar soap and spray from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_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": [ + 4.909420324080671, + -1.885967433304174, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..72b44c1ee955008eda79b343a46d9cfa8553841b --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 47, + "style_id": 16, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004622779679119282, + -0.021244503991496827, + -0.2860018344788262 + ], + "size": [ + 0.6034106175546102, + 0.3727340445438187 + ], + "height": 0.18578279015355506, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004622779679119282, + -0.021244503991496827, + -0.2860018344788262 + ], + "size": [ + 0.6034106175546102, + 0.3727340445438187 + ], + "height": 0.18578279015355506, + "name": "basin" + } + } + ], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_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" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "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": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_4_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": [ + 6.126807272347806, + -2.5273660932663096, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f9260ca7e4aeb6691b23dff35e08c5899689e46 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 53, + "style_id": 37, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.114814220890639, + -0.0332509482965441, + -0.26344095561424385 + ], + "size": [ + 0.41675232205772766, + 0.4000341858437333 + ], + "height": 0.22770993541680842, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser001/model.xml" + }, + "reset_region": { + "offset": [ + -0.114814220890639, + -0.0332509482965441, + -0.26344095561424385 + ], + "size": [ + 0.41675232205772766, + 0.4000341858437333 + ], + "height": 0.22770993541680842, + "name": "basin" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_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_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_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" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_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_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_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" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "singlecabinet_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": [ + 3.5981011702704095, + -0.8347077242029797, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706343213793446 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09cd47698ce67d2554ebc3cde4c6df845e250af1 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 21, + "style_id": 12, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.19388016231908867, + -0.002682803526246197, + -0.2138930795623537 + ], + "size": [ + 0.43329073200660473, + 0.41896811018702423 + ], + "height": 0.17810293712910438, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + 0.19388016231908867, + -0.002682803526246197, + -0.2138930795623537 + ], + "size": [ + 0.43329073200660473, + 0.41896811018702423 + ], + "height": 0.17810293712910438, + "name": "basin_right" + } + } + ], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_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" + }, + "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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_main_group", + "cabinet": "cab_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2322971243956775, + -0.7527187581579178, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67a3cd6a3befd9240507e6c5c3680980abf3a061 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 27, + "style_id": 49, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.047256816820756484, + -0.0004671400310335347, + -0.1421234857516468 + ], + "size": [ + 0.4434392364971912, + 0.17437074656821322 + ], + "height": 0.07197232028597139, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.047256816820756484, + -0.0004671400310335347, + -0.1421234857516468 + ], + "size": [ + 0.4434392364971912, + 0.17437074656821322 + ], + "height": 0.07197232028597139, + "name": "basin_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "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_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": 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b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62c860dfc028bf84a97c73400e8eddf9486449aa --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 37, + "style_id": 27, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.14829120259929843, + -0.02523510293195036, + -0.22135208912039675 + ], + "size": [ + 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"wall_left_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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + 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"dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and sponge from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "microwave_cabinet_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" + }, + 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b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,388 @@ +{ + "layout_id": 44, + "style_id": 39, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + 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}, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_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" + }, + "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" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" 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b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 49, + "style_id": 59, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.14958429767764436, + -0.03917140895965139, + -0.32494772197049476 + ], + "size": [ + 0.5236041967522179, + 0.4069583403710215 + ], + "height": 0.2501962700343294, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b929ea0fc01d65b0d6375ea7ed8fff973d2f72cd --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 22, + "style_id": 48, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ 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b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c898b86059b5822f613ead544bba34e5f7f8bbdd --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 43, + "style_id": 56, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.08859243445587664, + -0.02640544440266982, + -0.26461227402226983 + ], + "size": [ + 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{ + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": 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"cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the sponge and sponge from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_left_group_1", + "cabinet": "singlecabinet_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, + 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mode 100644 index 0000000000000000000000000000000000000000..f19b89e876f12d1098dd5d65871e7ac9ff6d4861 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 51, + "style_id": 37, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + -0.114814220890639, + -0.0332509482965441, + -0.26344095561424385 + ], + "size": [ + 0.41675232205772766, + 0.4000341858437333 + ], + "height": 0.22770993541680842, + "name": 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed43ccb058cffe1a918b8f8518cc3f615ec7c33 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 57, + "style_id": 33, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + 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newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b55373f2f34b4ed74234e204350a9f13dad8e4fc --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 17, + "style_id": 41, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_1/model.xml" + }, + 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"Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the sponge and bar soap from the sink, and place them back in the shelves.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "cabinet": "cab_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.853621024869466, + -2.143754840306606, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38e147b2facf2b673a9eb7f33e31655f86e0ce98 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,500 @@ +{ + "layout_id": 15, + "style_id": 19, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser005/model.xml" + }, + "reset_region": { + "offset": [ + 0.23437353368904895, + -0.02612845102737396, + -0.23104242983236573 + ], + "size": [ + 0.4210537290570493, + 0.41255406170996073 + ], + "height": 0.1927349277575648, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser006/model.xml" + }, + "reset_region": { + "offset": [ + 0.23437353368904895, + 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"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" + }, + 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+ }, + "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 up the soap dispenser and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_1_left_group_1" + }, + "cam_configs": 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0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6525559769005034, + -2.9451263963001093, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb5e9a9e12ac6ae8f261fb31e90e3dcfa059a26a --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 35, + "style_id": 36, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.00013712464552104175, + -0.024069908043178587, + -0.22387841800324237 + ], + "size": [ + 0.40355167428678823, + 0.2950312392401234 + ], + "height": 0.18995636849192682, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + 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0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.47857611304862, + -2.2366789379748635, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..064264d0e47e284eaf7426517d00080eb93ba66a --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,366 @@ +{ + "layout_id": 37, + "style_id": 22, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + 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a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c93aa3bfa0b4fc9ba1be304f18a2b8581a2d97b6 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,434 @@ +{ + "layout_id": 53, + "style_id": 30, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 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file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..874f39f256ec3aef41c429b22ce390684483658b --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 33, + "style_id": 26, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/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": [ + -0.8405123850906567, + -2.300901233085898, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..359538416d07b7127a78a4bce393c651935bd8fd --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 16, + "style_id": 11, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + 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b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 57, + "style_id": 36, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.00013712464552104175, + -0.024069908043178587, + -0.22387841800324237 + ], + "size": [ + 0.40355167428678823, + 0.2950312392401234 + ], + "height": 0.18995636849192682, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + 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0000000000000000000000000000000000000000..0625a2c3e0e80831a51efa1a551532ea2a1c8b56 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 42, + "style_id": 11, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.08859243445587664, + -0.02640544440266982, + -0.26461227402226983 + ], + "size": [ + 0.4395012936257235, + 0.25274328803092105 + ], + "height": 0.22407777028190023, + "name": "basin" + } + }, + { + "name": "supply2", + 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"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": [ + 3.446521545790389, + -4.0739840997454335, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fff3549945ace57e665271ae907e3637d72e37b0 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,590 @@ +{ + "layout_id": 39, + "style_id": 60, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + } + ], + "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" + }, + 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"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": "Pick up the bar soap and bar soap from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "singlecabinet_3_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": [ + 3.1205349640527236, + -0.8458477564893859, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a683748946772306aba2b7ec6cb359fdb1bf2e40 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 19, + "style_id": 54, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + 0.10387829516053644, + -0.02077867703071555, + -0.31300544469868485 + ], + "size": [ + 0.4981746707950314, + 0.4024169666711226 + ], + "height": 0.22843287994322964, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.10387829516053644, + -0.02077867703071555, + -0.31300544469868485 + ], + "size": [ + 0.4981746707950314, + 0.4024169666711226 + ], + "height": 0.22843287994322964, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": 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"ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_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": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and sponge from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_left_group_1", + "cabinet": "cab_2_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": [ + 0.8434472690165208, + -1.988857219736549, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78e46e050a2e738d8e4d869aaeabd3299f1558d5 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,500 @@ +{ + "layout_id": 15, + "style_id": 48, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.13265446815189705, + -0.02653376993221513, + -0.2274350761583751 + ], + "size": [ + 0.2924745079187015, + 0.2707687984018085 + ], + "height": 0.15310045364680483, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.13265446815189705, + -0.02653376993221513, + -0.2274350761583751 + ], + "size": [ + 0.2924745079187015, + 0.2707687984018085 + ], + "height": 0.15310045364680483, + "name": "basin" + } + } + ], + "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 up the bar soap and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_2_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6539319639790009, + -2.955231686718431, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a40b4377d0325d3aad8106f38f13a63dea672d9 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 59, + "style_id": 38, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.22636847405539381, + -0.037331545695421964, + -0.10636635913346226 + ], + "size": [ + 0.3486870917034634, + 0.37482594342604536 + ], + "height": 0.1200625960861264, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_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": "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" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": 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+ 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5934796103055153, + -2.085521174331803, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df31947e269c0e729f39b3214ae5e9c37625ee69 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 45, + "style_id": 54, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.10387829516053644, + -0.02077867703071555, + -0.31300544469868485 + ], + "size": [ + 0.4981746707950314, + 0.4024169666711226 + ], + "height": 0.22843287994322964, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.10387829516053644, + -0.02077867703071555, + -0.31300544469868485 + ], + "size": [ + 0.4981746707950314, + 0.4024169666711226 + ], + "height": 0.22843287994322964, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + 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{ + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_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": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "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": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the sponge and sponge from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "hingecabinet_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": [ + 2.576944887304631, + -0.7878399414988475, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10296bea54a7664af4c3874fcebab3aea54e6e14 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 57, + "style_id": 13, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 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"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_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "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" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the sponge and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "hingecabinet_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": [ + -0.8152539312984897, + -2.2308109947829156, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb288070869dbac87709092dce8cde63e536c888 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 51, + "style_id": 43, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.20564561673306772, + -0.00026283565737052206, + -0.24197012749003982 + ], + "size": [ + 0.3156186952191235, + 0.37582371792828684 + ], + "height": 0.1974794886454183, + "name": "basin_left" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + -0.20564561673306772, + -0.00026283565737052206, + -0.24197012749003982 + ], + "size": [ + 0.3156186952191235, + 0.37582371792828684 + ], + "height": 0.1974794886454183, + "name": "basin_left" + } + } + ], + "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": 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and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "singlecabinet_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": [ + 3.941023196036575, + -0.8039574928409879, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1e0ec00db1d047261fef196c6823713eb8e7015 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 49, + "style_id": 57, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.14958429767764436, + -0.03917140895965139, + -0.32494772197049476 + ], + "size": [ + 0.5236041967522179, + 0.4069583403710215 + ], + "height": 0.2501962700343294, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.14958429767764436, + -0.03917140895965139, + -0.32494772197049476 + ], + "size": [ + 0.5236041967522179, + 0.4069583403710215 + ], + "height": 0.2501962700343294, + "name": "basin" + } + } + ], + "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" + }, + "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_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_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": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the sponge and sponge from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_3_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": [ + 5.3089799205207, + -2.0206645739313545, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00016215342262304588 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca5a7a8b26e6d2cb5f285afc14b071f24e33a9f --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,376 @@ +{ + "layout_id": 52, + "style_id": 58, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + } + ], + "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_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + 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0000000000000000000000000000000000000000..a3beb8e6fb5122cc24580e733a845b6b48f9b617 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 59, + "style_id": 13, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + 0.2033680412546321, + 0.00039896058224545006, + -0.187377876053211 + ], + "size": [ + 0.37096235902536634, + 0.4471119238714088 + ], + "height": 0.2063960938121405, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + 0.2033680412546321, + 0.00039896058224545006, + -0.187377876053211 + ], + "size": [ + 0.37096235902536634, + 0.4471119238714088 + ], + "height": 0.2063960938121405, + "name": "basin" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + 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"fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + 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0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.855005708550436, + -2.0616017689476, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..134b630617248eff5d8ea65f2096c32135655078 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 33, + "style_id": 16, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004622779679119282, + -0.021244503991496827, + -0.2860018344788262 + ], + "size": [ + 0.6034106175546102, + 0.3727340445438187 + ], + "height": 0.18578279015355506, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004622779679119282, + 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}, + "gen_textures": {}, + "lang": "Pick up the bar soap and bar soap from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "singlecabinet_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": [ + 2.1902606766320574, + -1.7883776950246981, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..584318c61443b5a08d39bc10414fef4c07aa20cf --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 46, + "style_id": 30, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0005908201020984327, + -0.026236142537545346, + -0.22237974242709907 + ], + "size": [ + 0.5416768652538709, + 0.4087185143212876 + ], + "height": 0.19075755405985345, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0005908201020984327, + -0.026236142537545346, + -0.22237974242709907 + ], + "size": [ + 0.5416768652538709, + 0.4087185143212876 + ], + "height": 0.19075755405985345, + "name": "basin" + } + } + ], + "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" + }, + 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b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e922d72ebeecd7cce4cc41238379e9df53335ca8 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 46, + "style_id": 18, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_3/model.xml" + }, + "reset_region": { + "offset": [ + -7.775544586069438e-05, + -0.025937911125368376, + -0.17204538823022003 + ], + "size": [ + 0.36440359075440665, + 0.2804203118542071 + ], + "height": 0.14921277258712132, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + -7.775544586069438e-05, + -0.025937911125368376, + -0.17204538823022003 + ], + "size": [ + 0.36440359075440665, + 0.2804203118542071 + ], + "height": 0.14921277258712132, + "name": "basin" + } + } + ], + "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": { + 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} + }, + "init_robot_base_pos": [ + 4.446695587393637, + -2.628989724590829, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83dc1ff8134e1ef2c9b5808811bf096244d1aa82 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 31, + "style_id": 30, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0005908201020984327, + -0.026236142537545346, + -0.22237974242709907 + ], + "size": [ + 0.5416768652538709, + 0.4087185143212876 + ], + "height": 0.19075755405985345, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0005908201020984327, + -0.026236142537545346, + -0.22237974242709907 + ], + "size": [ + 0.5416768652538709, + 0.4087185143212876 + ], + "height": 0.19075755405985345, + "name": "basin" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + 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"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": [ + 2.8308835952638893, + -0.81984272941773, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1967766e6f26f81cb39c2c5b428977a7b3976344 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 11, + "style_id": 57, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_left_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_1/model.xml" + }, + "reset_region": { + "offset": [ + 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}, + "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_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_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" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": 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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": [ + 0.7982124742908302, + -1.8658640485534166, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7be2932f8335e165bd745d7f4480d01feb0bb111 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 59, + "style_id": 50, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.00030809989081061195, + -0.01692748628178603, + -0.19092784069069108 + ], + "size": [ + 0.4310091247266947, + 0.4318208893193016 + ], + "height": 0.12335516368564185, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": 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"singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the sponge and dish brush from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "singlecabinet_03_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": [ + 3.582605853834381, + -2.089558698195343, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5f0d703308a898e8fb8c2fa31cb37fce3a7e93 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 45, + "style_id": 28, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.14218444463220675, + -0.010776829125248494, + -0.24158432982107356 + ], + "size": [ + 0.3122642093439364, + 0.28679743836978133 + ], + "height": 0.16637211590457257, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.14218444463220675, + -0.010776829125248494, + -0.24158432982107356 + ], + "size": [ + 0.3122642093439364, + 0.28679743836978133 + ], + "height": 0.16637211590457257, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": 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"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": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "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": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + 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"parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.730600252460205, + -0.8472680933004435, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57ebced5fa5ff812f66fd465675e2a9d94cc3751 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,432 @@ +{ + "layout_id": 57, + "style_id": 12, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + 0.19388016231908867, + -0.002682803526246197, + -0.2138930795623537 + ], + "size": [ + 0.43329073200660473, + 0.41896811018702423 + ], + "height": 0.17810293712910438, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + 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"wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + 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}, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "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" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + 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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": [ + -0.7845707912813767, + -2.1538953045379245, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7daf4e758ad90a2cdb584ef408862326c284bedf --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,500 @@ +{ + "layout_id": 15, + "style_id": 49, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.047256816820756484, + -0.0004671400310335347, + -0.1421234857516468 + ], + "size": [ + 0.4434392364971912, + 0.17437074656821322 + ], + "height": 0.07197232028597139, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.047256816820756484, + -0.0004671400310335347, + -0.1421234857516468 + ], + "size": [ + 0.4434392364971912, + 0.17437074656821322 + ], + "height": 0.07197232028597139, + "name": "basin_right" + } + } + ], + "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 up the bar soap and sponge from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_island_group", + "cabinet": "cab_2_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6200219150780326, + -2.980677252354531, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd15d7e4748ef56da951516620df0f2ef5e43deb --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 46, + "style_id": 23, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + -0.18176103991038203, + -0.0020639937960802573, + -0.22482984587615992 + ], + "size": [ + 0.36067763254884516, + 0.40807410857339144 + ], + "height": 0.1631134240516747, + "name": "basin_left" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.21887224222439472, + -0.002063982933440983, + -0.22482982415088135 + ], + "size": [ + 0.28569482144577674, + 0.40807413029866996 + ], + "height": 0.16319503506060298, + "name": "basin_right" + } + } + ], + "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" + }, + 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4.263456434111991, + -2.674639914657846, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d07cdd28228ffd2e1b80fe13150aae5203f0a6e6 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,450 @@ +{ + "layout_id": 33, + "style_id": 34, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + 0.09815626675122073, + -0.02979627466392039, + -0.2788192755161545 + ], + "size": [ + 0.5487269474466067, + 0.3795752534871376 + ], + "height": 0.21085447908572008, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser003/model.xml" + }, + "reset_region": { + "offset": [ + 0.09815626675122073, + -0.02979627466392039, + -0.2788192755161545 + ], + "size": [ + 0.5487269474466067, + 0.3795752534871376 + ], + "height": 0.21085447908572008, + "name": "basin" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + 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place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "hingecabinet_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, + 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"name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.23437353368904895, + -0.02612845102737396, + -0.23104242983236573 + ], + "size": [ + 0.4210537290570493, + 0.41255406170996073 + ], + "height": 0.1927349277575648, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + 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"stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + 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"fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": 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-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": [ + 2.3661689508532975, + -0.8427614789354473, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f0b20e95c5221614b6e15503dc2defec6b7e804 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 59, + "style_id": 33, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + -0.0038110736702231807, + -0.024734373509031543, + -0.20953974374125964 + ], + "size": [ + 0.6468094657780432, + 0.345544667275835 + ], + "height": 0.2053193736978915, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml" + }, + "reset_region": { + "offset": [ + -0.0038110736702231807, + -0.024734373509031543, + -0.20953974374125964 + ], + "size": [ + 0.6468094657780432, + 0.345544667275835 + ], + "height": 0.2053193736978915, + "name": "basin" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + 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+ }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_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": "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" + }, + 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the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "singlecabinet_02_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": [ + 3.857318308277815, + -2.1041528017093367, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..95f7ffcc42fffabde52098f5f51bd475b7632a56 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 18, + "style_id": 19, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_right_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/soap_dispenser/soap_dispenser_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.23437353368904895, + -0.02612845102737396, + -0.23104242983236573 + ], + "size": [ + 0.4210537290570493, + 0.41255406170996073 + ], + "height": 0.1927349277575648, + "name": "basin_right" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_right_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2337664429193589, + -0.026744692983198037, + -0.23104242983236573 + ], + "size": [ + 0.42363230858580997, + 0.4095219847273065 + ], + "height": 0.1927158442597567, + "name": "basin_left" + } + } + ], + "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" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_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": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "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_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "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": "Pick up the soap dispenser and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_1_right_group", + "cabinet": "cab_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.249409966817635, + -3.2381160941529625, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3851a92570997ec5e66849504d2746b9bff69203 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 46, + "style_id": 56, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.08859243445587664, + -0.02640544440266982, + -0.26461227402226983 + ], + "size": [ + 0.4395012936257235, + 0.25274328803092105 + ], + "height": 0.22407777028190023, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.08859243445587664, + -0.02640544440266982, + -0.26461227402226983 + ], + "size": [ + 0.4395012936257235, + 0.25274328803092105 + ], + "height": 0.22407777028190023, + "name": "basin" + } + } + ], + "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": { + 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"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" + }, + 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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": [ + 4.350845824386883, + -2.6474676188941983, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03c065184112014f90e38ed7ceb0ef91bffdb55b --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 59, + "style_id": 13, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + 0.2033680412546321, + 0.00039896058224545006, + -0.187377876053211 + ], + "size": [ + 0.37096235902536634, + 0.4471119238714088 + ], + "height": 0.2063960938121405, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.2033680412546321, + 0.00039896058224545006, + -0.187377876053211 + ], + "size": [ + 0.37096235902536634, + 0.4471119238714088 + ], + "height": 0.2063960938121405, + "name": "basin" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + 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"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": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_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": "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" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and bar soap from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_island_group_1", + "cabinet": "singlecabinet_03_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": [ + 3.8121948024223475, + -2.0802220379041105, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..198579059e1435dabbea59940c7a112651712bec --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,476 @@ +{ + "layout_id": 23, + "style_id": 58, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.11659964548121332, + -0.04359979581849083, + -0.30001439324862383 + ], + "size": [ + 0.5202381756598345, + 0.35118815745587006 + ], + "height": 0.25718018866726644, + "name": "basin" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_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": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": 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[ + -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": [ + 2.6408613517919886, + -0.7781833687181614, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46640d9a63863dabcbdb44ddfd31e2fd1f7cf78c --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 47, + "style_id": 13, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.2033680412546321, + 0.00039896058224545006, + -0.187377876053211 + ], + "size": [ + 0.37096235902536634, + 0.4471119238714088 + ], + "height": 0.2063960938121405, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.2033680412546321, + 0.00039896058224545006, + -0.187377876053211 + ], + "size": [ + 0.37096235902536634, + 0.4471119238714088 + ], + "height": 0.2063960938121405, + "name": "basin" + } + } + ], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + 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"coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_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" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": 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+ "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_4_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": [ + 6.155967394185405, + -2.352689030832401, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..edf6130515895092f8b5a96fb221aa22036a624f --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 24, + "style_id": 53, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1138694192140215, + -0.023496964265551784, + -0.25052084143931236 + ], + "size": [ + 0.4087696250877586, + 0.3033832247943492 + ], + "height": 0.18462743369276513, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_1_island_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1138694192140215, + -0.023496964265551784, + -0.25052084143931236 + ], + "size": [ + 0.4087696250877586, + 0.3033832247943492 + ], + "height": 0.18462743369276513, + "name": "basin" + } + } + ], + "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" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_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" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": 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"top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "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": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "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" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and bar soap from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "cabinet": "cab_3_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": [ + 3.2852086424709634, + -1.7491117844739963, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c7add28d1e352e7d9314dd7a5ad57b71fe07777 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 38, + "style_id": 53, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1138694192140215, + -0.023496964265551784, + -0.25052084143931236 + ], + "size": [ + 0.4087696250877586, + 0.3033832247943492 + ], + "height": 0.18462743369276513, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "offset": [ + 0.1138694192140215, + -0.023496964265551784, + -0.25052084143931236 + ], + "size": [ + 0.4087696250877586, + 0.3033832247943492 + ], + "height": 0.18462743369276513, + "name": "basin" + } + } + ], + "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" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "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_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick up the dish brush and dish brush from the sink, and place them back in the shelves.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "opencabinet_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": [ + 1.7775056458121574, + -0.7672669599238933, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16300e468aacd7b1f63a4fcd353a78e801a50cc8 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 35, + "style_id": 30, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0005908201020984327, + -0.026236142537545346, + -0.22237974242709907 + ], + "size": [ + 0.5416768652538709, + 0.4087185143212876 + ], + "height": 0.19075755405985345, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0005908201020984327, + -0.026236142537545346, + -0.22237974242709907 + ], + "size": [ + 0.5416768652538709, + 0.4087185143212876 + ], + "height": 0.19075755405985345, + "name": "basin" + } + } + ], + "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" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors.", + "fixture_refs": { + "sink": "sink_right_group_1", + "cabinet": "hingecabinet_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": [ + 4.525633779392083, + -2.124443729902194, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d38ad046a8ca2bc1b9bceb0b92ac9b012c5c3b06 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 46, + "style_id": 45, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001048280504270166, + -0.023965764627959338, + -0.2560120153989775 + ], + "size": [ + 0.6666555912757592, + 0.3634980639281301 + ], + "height": 0.1751527011932374, + "name": "basin" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.001048280504270166, + -0.023965764627959338, + -0.2560120153989775 + ], + "size": [ + 0.6666555912757592, + 0.3634980639281301 + ], + "height": 0.1751527011932374, + "name": "basin" + } + } + ], + "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 up the sponge and bar soap from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_front_group_1", + "cabinet": "singlecabinet_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": [ + 4.287646476509407, + -2.626401382998564, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39d9ade2d91f2410ed1f221fe43fd6fad9442477 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,392 @@ +{ + "layout_id": 41, + "style_id": 23, + "object_cfgs": [ + { + "name": "supply1", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.18176103991038203, + -0.0020639937960802573, + -0.22482984587615992 + ], + "size": [ + 0.36067763254884516, + 0.40807410857339144 + ], + "height": 0.1631134240516747, + "name": "basin_left" + } + }, + { + "name": "supply2", + "obj_groups": "cleaner", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "cleaner" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.18176103991038203, + -0.0020639937960802573, + -0.22482984587615992 + ], + "size": [ + 0.36067763254884516, + 0.40807410857339144 + ], + "height": 0.1631134240516747, + "name": "basin_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "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_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the bar soap and bar soap from the sink, and place them back in the cabinet, and close the cabinet door.", + "fixture_refs": { + "sink": "sink_main_group_1", + "cabinet": "singlecabinet_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": [ + 2.7345786621939125, + -0.8416942845795564, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/meta/tasks.jsonl b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..946aa3a5fdc5abb4c1047d7e54a19c58544cf1d3 --- /dev/null +++ b/pretrain/composite/ReturnWashingSupplies/20250717/lerobot/meta/tasks.jsonl @@ -0,0 +1,32 @@ +{"task_index": 0, "task": "Pick up the bar soap and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 1, "task": "Pick up the dish brush and sponge from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 2, "task": "Pick up the bar soap and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 3, "task": "Pick up the bar soap and dish brush from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 4, "task": "Pick up the bar soap and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 5, "task": "Pick up the soap dispenser and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 6, "task": "Pick up the dish brush and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 7, "task": "Pick up the soap dispenser and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 8, "task": "Pick up the sponge and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 9, "task": "Pick up the sponge and sponge from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 10, "task": "Pick up the bar soap and sponge from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 11, "task": "Pick up the bar soap and sponge from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 12, "task": "Pick up the dish brush and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 13, "task": "Pick up the bar soap and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 14, "task": "Pick up the dish brush and dish brush from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 15, "task": "Pick up the dish brush and dish brush from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 16, "task": "Pick up the sponge and bar soap from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 17, "task": "Pick up the sponge and sponge from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 18, "task": "Pick up the dish brush and sponge from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 19, "task": "Pick up the soap dispenser and bar soap from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 20, "task": "Pick up the dish brush and bar soap from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 21, "task": "Pick up the sponge and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 22, "task": "Pick up the bar soap and sponge from the sink, and place them back in the shelves."} +{"task_index": 23, "task": "Pick up the bar soap and spray from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 24, "task": "Pick up the bar soap and bar soap from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 25, "task": "Pick up the dish brush and soap dispenser from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 26, "task": "Pick up the sponge and dish brush from the sink, and place them back in the cabinet, and close the cabinet door."} +{"task_index": 27, "task": "Pick up the sponge and bar soap from the sink, and place them back in the shelves."} +{"task_index": 28, "task": "Pick up the spray and sponge from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 29, "task": "Pick up the soap dispenser and bar soap from the sink, and place them back in the cabinet, and close the cabinet doors."} +{"task_index": 30, "task": "Pick up the dish brush and dish brush from the sink, and place them back in the shelves."} +{"task_index": 31, "task": "ReturnWashingSupplies"}