diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000003/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08f2477b7ef152f270bc8d4625183a16671fd238 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,582 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + }, + 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"obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.0537889715, + 0.20492745449999997, + 0.0419670575 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "wooden_spoon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon008/model.xml" + }, + "reset_region": { + "size": [ + 0.7875, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + 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[ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000005/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f455f87e0dcfbb4a279a1ccbbee0a6c973b8af43 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "test", + "mjcf_path": 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a54366b4fd37c69c8beea1655bf3da6ffe4f99 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,520 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard011/model.xml" + }, + "reset_region": { + "offset": [ + -0.000519890487119562, + 0.0028797472135973917, + 0.5483455536926568 + ], + "size": [ + 0.6781268599613075, + 0.4671225904746241 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.45, + 0.08, + 0.08 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "aluminum_foil", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil005/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.04775444279999999, + 0.040755249599999994, + 0.12120800999999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_5/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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mode 100644 index 0000000000000000000000000000000000000000..f5b2de6c1641094db663dee430fca84bbe684150 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,399 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mayonnaise", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mayonnaise", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise010/model.xml" + }, + "reset_region": { + "offset": [ + -0.012901757557804622, + -0.04411236332686859, + 0.20733839687653566 + ], + "size": [ + 0.6340515375869524, + 0.45862527440377643 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.05422440597594634, + 0.24436457948946866, + 0.025509500719999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spatula", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spatula", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spatula/spatula_7/model.xml" + }, + "reset_region": { + "size": [ + 0.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.048639336, + 0.04878058799999999, + 0.12594861599999999 + ] + }, + "size": [ + 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{ + "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": [ + 1.106654668107382, + -1.8432270002954554, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000017/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5a46134996516b4cdfb671280398a4db4b424f3 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard010/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.136285569, + 0.205757727, + 0.08382705450000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "digital_scale", + "tool", + "in_container" + ], 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fridge door.", + "fixture_refs": { + "fxtr": "fridge_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -0.0491688159754016, + -1.4018049073032959, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000019/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef5401b4ad1121f26512762d9d886436a060da99 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,638 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000023/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ffa73be281d1cf4063c61d1fa369ed21b4f9bb84 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "drink", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "test", + "mjcf_path": 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+ "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": [ + 1.2402588611072918, + -2.8895109990992376, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000026/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5566e0e08452a8b0e99796feaef34ab163a1c4b0 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bar", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.07070196000000001, + 0.06885415, + 0.023152350000000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + 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{ + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 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--git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000034/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..71acdebe9452a19d64d5bf1c1bad1d3d3fea0f46 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml" + }, + "reset_region": { + "offset": [ + 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} + }, + "init_robot_base_pos": [ + 5.010311261581158, + -3.0944055251628373, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000038/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a4f0fac02cf38da07bf05ae295d0b30acb96571 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml" + }, + "reset_region": { + "offset": [ + 0.17173226384380283, + 0.013289167039569658, + 0.20678557824266253 + ], + "size": [ + 0.3785173113362588, + 0.3935935129768715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.05674973213749076, + 0.1333468311911499, + 0.06224049057053102 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cookie_dough_ball", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall008/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.06578865892750749, + -0.18350830734475307 + ], + "size": [ + 0.4128378194384873, + 0.5930299761881288 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.03373, + 0.03373, + 0.0348175 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": 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"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": "HingeCabinet" + }, + "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" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -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": [ + 4.6530716969924555, + -1.7340934170053541, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000047/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..301aa3594463abdc344d936859027ba6cd4cca31 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.45, + 0.08, + 0.08 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "aluminum_foil", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil005/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_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": "HingeCabinet" + }, + 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"salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -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": [ + 3.023678308860843, + -2.9159687116908937, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000052/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9791a6a14d6a0ccbee3518686127270cca0ae60 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,348 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread_flat", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.012931077750084452, + -0.04411236332686859, + 0.49889728832190305 + ], + "size": [ + 0.6339572030552696, + 0.45862527440377643 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.05962146552999998, + 0.10438349085999997, + 0.041208336015 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09444338166204168, + 0.5092108047621914 + ], + "size": [ + 0.4128378194384873, + 0.5358628189113166 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.06792552134999998, + 0.06795752309999996, + 0.05594104889999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 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No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000055/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca98eeac155574961ac5ed2c81efb403bcfd6e1 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,348 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_4/model.xml" + }, + "reset_region": { + 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of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000057/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e18ea4776129db0b1d70b33abc704f36d38b309 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,438 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peach", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_5/model.xml" + }, + "reset_region": { + "offset": [ + 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], + "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": [ + 4.064719880212812, + -1.402871115926255, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000058/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad7a212f0437a95609c063f4f2863932f5a5030e --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.13271259301848515 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.06757469144999996, + 0.06729549644999996, + 0.10569882959999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_4/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": 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0000000000000000000000000000000000000000..8eb8e19a9246eb01d3b91620536dc0f44af3ce34 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..222863ff7158b93d379da2acaadb893910f3be79 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.13271259301848515 + ], + "size": [ + 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000093/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23b98bb1fde3ad6a18bd1bd36fe24de0b2963469 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + 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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.21009813009897166 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.04147104383999999, + 0.09561804287999998, + 0.05753581823999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_9/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000109/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cookie_dough_ball", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall010/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014527782289688873, + 0.06981058591882013, + 0.1844737151775919 + ], + "size": [ + 0.6856360152799493, + 0.5172543487964222 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": 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"stove_main_group": { + "cls": "Stove" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "right_corner_box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "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" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "salt_shaker_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "stack_left_left_group_base": { + "cls": "Box" + }, + "stack_left_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_left_group_2": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_base": { + "cls": "Box" + }, + "stack_right_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_left_group_2": { + "cls": "SingleCabinet" + }, + "box_left_top_left_group": { + "cls": "Box" + }, + "box_left_bottom_left_group": { + "cls": "Box" + }, + "box_right_top_left_group": { + "cls": "Box" + }, + "box_right_bottom_left_group": { + "cls": "Box" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "counter_corner_1_front_group": { + "cls": "Counter" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "shelves_front_group": { + "cls": "OpenCabinet" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "bottom_front_group_2": { + "cls": "Drawer" + }, + "cab_middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "micro_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + }, + "utensil_set_front_group": { + "cls": "Accessory" + }, + "counter_1_dining_area_group": { + "cls": "Counter" + }, + "paper_towel_dining_area_group": { + "cls": "Accessory" + }, + "fruit_bowl_dining_area_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1355387168628202, + -1.603800805090519, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000112/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000112/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f2f54429c0d99082df15d1433207ef9d3048989 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000112/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17012238254205664, + 0.01285438192129941, + 0.5311948742500949 + ], + "size": [ + 0.37549296241974783, + 0.3946066862490093 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.052717463999999985, + 0.05191312639999999, + 0.15999999999999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_drink", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "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": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + 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"cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + 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"stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -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, 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"Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_9/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.21009813009897166 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.07058545141297731, + 0.0697481174911964, + 0.06970349536528721 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_9/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000127/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug_wide_opening", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug_wide_opening", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000129/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "alcohol", + "drink" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.0002632047656345171, + 0.10788939929975168, + 0.181412742979443 + ], + "size": [ + 0.7781439843759018, + 0.5543220166326962 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": 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{ + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "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" 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"parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.012248652930459, + -1.3888589997281529, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000130/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000130/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..49126a7c2caa5d9c1dde9b9796f1b661b6397fde --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000130/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.00734478175963188, + 0.003573956171600376, + 0.24405273782152556 + ], + "size": [ + 0.6623975154678047, + 0.4660752914038736 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.06949598, + 0.28547307, + 0.07388611 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "whisk", + "utensil" + ], + "groups": [ + "all" + ], + "cat": 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"cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2433937956623615, + -3.0446459860319255, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000131/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000131/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e9441bf1539ea04a969da0e279b192aa72b7a77 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000131/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander010/model.xml" + }, + "reset_region": { + "offset": [ + 5.222870163282267e-05, + 0.10788939929975168, + 0.5507136994887958 + ], + "size": [ + 0.7775131174413674, + 0.5543220166326962 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.124692, + 0.084618, + 0.187992 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "flour_bag" + ], + "groups": [ + "all" + ], + "cat": "flour_bag", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/flour_bag/FlourBag010/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + 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+ "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + 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0000000000000000000000000000000000000000..6d2a277dfcff8a2ba74a5fb111d3e8ca82de7146 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000137/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.04855696904999999, + 0.048556956699999994, + 0.09597072899999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "shaker", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + 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0000000000000000000000000000000000000000..5d43c92be901b724392bcdce29168169f3cc698c --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000142/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09444338166204168, + 0.5092108047621914 + ], + "size": [ + 0.4128378194384873, + 0.5358628189113166 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + 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+ "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "waffle", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "waffle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_4/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": 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+ }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.0834151892, + 0.09686292364, + 0.07505648640000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", 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+ "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -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": [ + 4.629016138734526, + -1.6367636455307633, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000160/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000160/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3c7f52bb728e069b705c73b69caa7f31d0568ff --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000160/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.00734478175963188, + 0.003573956171600376, + 0.24405273782152556 + ], + "size": [ + 0.6623975154678047, + 0.4660752914038736 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.135199232, + 0.09167903200000001, + 0.04816 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.5456940553988372, + -2.583844115343115, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000161/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000161/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..589c6d3f4aa673d905bbd699589e6d1ddc73ce4f --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000161/ep_meta.json @@ -0,0 +1,509 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_21/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.053176247520000004, + 0.05570177704000002, + 0.06714422816000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "egg", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_7/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.060109425899999985, + 0.10455434518499995, + 0.05523648650999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_9/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_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": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000174/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5bbbaa3275c377b6593beeffef63f67b82c0ab0 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000174/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "squash", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 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}, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" 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+ "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.00020325679462, + -3.1957248530634272, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000184/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000184/ep_meta.json new file mode 100644 index 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-3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000193/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000193/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..960f5bd6c6db67b1d74597e2714b9abf0b58e7a9 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000193/ep_meta.json @@ -0,0 +1,528 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml" + }, + 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"turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + 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0000000000000000000000000000000000000000..1073b7a6eac88ec2e2d6387931261c77efb041e6 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000200/ep_meta.json @@ -0,0 +1,578 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.17173226384380283, + 0.013289167039569658, + 0.20678557824266253 + ], + "size": [ + 0.3785173113362588, + 0.3935935129768715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.05862553255999999, + 0.09749289507999999, + 0.018117789199999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread_flat", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_9/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.12190446901499995, + 0.12012954182249994, + 0.046982772059999976 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_6/model.xml" + }, + "reset_region": { + "size": [ + 0.5169929026218261, + 0.65 + ], + "offset": [ + 0.49150354868908686, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "shelves_1_main_group": { + "cls": "OpenCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_2_main_group": { + "cls": "OpenCabinet" + }, + "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": "HingeCabinet" + }, + "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" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": 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"oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Close the fridge door.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -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": [ + 4.661080135692988, + -1.4763461968906344, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000201/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000201/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3da6b41d0a3cf11f86654b97ea527abd0e77b9 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000201/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.00734478175963188, + 0.003573956171600376, + 0.24405273782152556 + ], + "size": [ + 0.6623975154678047, + 0.4660752914038736 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.07171906169999998, + 0.08251979669999998, + 0.16499999999999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "drink", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_9/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000202/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000202/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8287195e74c17e25b2d4084275848b9a2634d99 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000202/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turkey_slice" + ], + "groups": [ + "all" + ], + "cat": "turkey_slice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice010/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.2064267848, + 0.36618643160000003, + 0.1347986668 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "all" + ], + "cat": "saucepan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan012/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": 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"all" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.00734478175963188, + 0.003573956171600376, + 0.24405273782152556 + ], + "size": [ + 0.6623975154678047, + 0.4660752914038736 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.06310741471999998, + 0.13106280179999996, + 0.06354821395999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "test", + "mjcf_path": 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"groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml" + }, + "reset_region": { + "offset": [ + 0.17012238254205664, + 0.01285438192129941, + 0.5311948742500949 + ], + "size": [ + 0.37549296241974783, + 0.3946066862490093 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.06792552134999998, + 0.06795752309999996, + 0.05594104889999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "jam", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml" + }, 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null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml" + }, + "reset_region": { + "offset": [ + 5.222870163282267e-05, + 0.10788939929975168, + 0.5507136994887958 + ], + "size": [ + 0.7775131174413674, + 0.5543220166326962 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.13484532599999996, + 0.11057689649999994, + 0.14999579399999996 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + 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0000000000000000000000000000000000000000..6efb48ea5a1f71b32ab15c71c7ddff331331ed80 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000225/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml" + }, + "reset_region": { + "offset": [ + -0.000519890487119562, + 0.0028797472135973917, + 0.5483455536926568 + ], + "size": [ + 0.6781268599613075, + 0.4671225904746241 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + 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mode 100644 index 0000000000000000000000000000000000000000..f3267c8fdd3538ce2afc5f48b423c9677857f9eb --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000226/ep_meta.json @@ -0,0 +1,631 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": 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{ + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + 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0000000000000000000000000000000000000000..3121e98bb0029df4d0d75b0c2a69584e3009cbe0 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000229/ep_meta.json @@ -0,0 +1,453 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.013992063299328172, + 0.07567772291111942, + 0.12326256251363547 + ], + "size": [ + 0.5353623575925833, + 0.47989095689091343 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + 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0000000000000000000000000000000000000000..9b6e71f46b7671cb77ddcf79fe713ec8b53d01ec --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000230/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.06578865892750749, + -0.18350830734475307 + ], + "size": [ + 0.4128378194384873, + 0.5930299761881288 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.09234744534999999, + 0.15625391589999996, + 0.05066181355 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagged_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bagged_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_8/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.09374748, + 0.094060572, + 0.1559304 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cinnamon", + "spice" + ], + "groups": [ + "all" + ], + "cat": "cinnamon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon010/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + 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--git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000233/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000233/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35b3c7652bddbbf2b009b999bbf8663455d7608b --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000233/ep_meta.json @@ -0,0 +1,453 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml" + }, + "reset_region": { + "offset": [ + 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+ }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "dairy", + "packaged_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09431713873401872, + 0.1835105829355773 + ], + "size": [ + 0.4128378194384873, + 0.5356103330552707 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.029306991, + 0.20981457840000003, + 0.0292118463 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fork", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "fork", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_8/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000243/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000243/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ec68feb6beacae0fd427491454997532badeeea --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000243/ep_meta.json @@ -0,0 +1,427 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard012/model.xml" + }, + "reset_region": { + "offset": [ + -0.012931077750084452, + -0.04411236332686859, + 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null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.06578865892750749, + -0.18350830734475307 + ], + "size": [ + 0.4128378194384873, + 0.5930299761881288 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.16952117400000002, + 0.119550384, + 0.155267865 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "decoration", + "receptacle" + ], + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000299/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0efe2d5d658122d0d29bff7862098472f56cc597 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000299/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_9/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 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+ "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": [ + 1.2243705174996795, + -2.7298412076305207, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000308/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000308/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..821141c7bd7269322a339a50630b3999e9fdbe96 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000308/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "squash", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.13271259301848515 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.09858241599999999, + 0.081417562, + 0.012961140000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turkey_slice" + ], + "groups": [ + "all" + ], + "cat": "turkey_slice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice011/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { 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0000000000000000000000000000000000000000..a03a32495851dc3d66c5c73e330abd04506e3e91 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000310/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.46798526839192134 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.10600327000000001, + 0.10602407999999999, + 0.26118926 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice008/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "bottom_main_group_2": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "micro_housing_main_group": { + "cls": 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"stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_left_island_group_base": { + "cls": "Box" + }, + "island_cab_left_island_group_1": { + "cls": "Drawer" + }, + "island_cab_left_island_group_2": { + "cls": "Drawer" + }, + "island_cab_left_island_group_3": { + "cls": "Drawer" + }, + "island_cab_left_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, 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"graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.031848425599999994, + 0.11617911679999998, + 0.15879855199999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, 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0000000000000000000000000000000000000000..467b84027c02ada37eae0268b1bfb7fdeab4a78f --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000315/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.05671624449054956, + 0.0537621410311962, + 0.05303567038391982 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mushroom", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_4/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + 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0000000000000000000000000000000000000000..c8b33d3637095f418d7fb8f1d58dbcb99253fe13 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000321/ep_meta.json @@ -0,0 +1,584 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014527782289688873, + 0.06958483932993503, + 0.5474662028803855 + ], + "size": [ + 0.6856360152799493, + 0.5182223041537808 + ], + "name": "fridge_shelf1" + } + }, + { + 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b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000324/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c9d7499045a6d9a292356241725efb20f882246 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000324/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.00734478175963188, + 0.003573956171600376, + 0.24405273782152556 + ], + "size": [ + 0.6623975154678047, + 0.4660752914038736 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.049178555999999984, + 0.14999999999999997, + 0.053885186999999994 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000326/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000326/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bde1e534fbcbe83ee981fa1f1894cd7e7ae3ec2a --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000326/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 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+} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000352/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000352/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e8f69ec646eb9d8fc395bd88f9c0e00895b824a --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000352/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ketchup", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "ketchup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_7/model.xml" + }, + "reset_region": { + "offset": [ + 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}, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" 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+ }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mango", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.5174214961304935 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.03960264150000001, + 0.132459354, + 0.0394309296 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.07297004099999999, + 0.07297004099999999, + 0.15107757749999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "candle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_9/model.xml" + }, + "reset_region": { + "size": [ + 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"graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014527782289688873, + 0.06958483932993503, + 0.5474662028803855 + ], + "size": [ + 0.6856360152799493, + 0.5182223041537808 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.10740961129999997, + 0.14464858959999996, + 0.03928391329999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chips", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "chips", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chips/chips_9/model.xml" + }, + "reset_region": { + "size": [ + 2.25, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + 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--git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000401/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000401/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e6586fca585339a8ab48b20ae4a2eb31df08387 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000401/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_6/model.xml" + }, + "reset_region": { + "offset": [ + -0.000519890487119562, + 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"stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "fruit_bowl_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "flower_vase_right_group": { + "cls": "Accessory" + }, + "soap_dispenser_right_group": { + "cls": "Accessory" + }, + "glass_cup_right_group": { + "cls": "Accessory" + }, + "glass_cup_2_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "cinnamon_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2470383901608495, + -2.9520809687835765, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000402/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000402/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8e86b65c2465f8a65950907e16b62c2830183ed --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000402/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.014007388717840658, + 0.07567772291111942, + 0.46835226453396067 + ], + "size": [ + 0.5353317067555583, + 0.47989095689091343 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.04855696904999999, + 0.048556956699999994, + 0.09597072899999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "shaker", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "counter_corner_left_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_right_main_group": { + "cls": "Counter" + }, + 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{ + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "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" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + 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"oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "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": [ + 2.9960266150148014, + -3.009599790636478, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000408/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000408/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1f7e221f8527dc9484a5f554b463b6d0becd58a --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000408/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml" + }, + "reset_region": { + "offset": [ + -0.000519890487119562, + 0.0028797472135973917, + 0.5483455536926568 + ], + "size": [ + 0.6781268599613075, + 0.4671225904746241 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.07476180749999997, + 0.09039678479999998, + 0.07474032269999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_9/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_main_main_group": { + "cls": 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1.246713924845449, + -3.073230810300537, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000409/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000409/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2de9f038a153ec6677a7810dcfced7aa5060059 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000409/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cookie_dough_ball", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall009/model.xml" + }, + "reset_region": { + "offset": [ + 0.17173226384380283, + 0.013289167039569658, + 0.20678557824266253 + ], + "size": [ + 0.3785173113362588, + 0.3935935129768715 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.10675425599999999, + 0.1278608625, + 0.11514100500000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": 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"obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_8/model.xml" + }, + "reset_region": { + "offset": [ + 5.222870163282267e-05, + 0.10788939929975168, + 0.5507136994887958 + ], + "size": [ + 0.7775131174413674, + 0.5543220166326962 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.06757469144999996, + 0.06729549644999996, + 0.10569882959999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 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}, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + 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"init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000425/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000425/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9027ab0fa45d945ad7130ae5b343e054d0e63655 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000425/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "test", + "mjcf_path": 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"size": [ + 0.7875, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_front_room": { + "cls": "Wall" + }, + "wall_front_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_2_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + 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"lang": "Close the fridge doors.", + "fixture_refs": { + "fxtr": "fridge_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.136354218410657, + -1.8305617084072439, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000431/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000431/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0989f7c9e0f1b564914a18e7a731cbafae83dbe --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000431/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 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"receptacle" + ], + "groups": [ + "all" + ], + "cat": "ice_cube_tray", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray008/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.04332837600000001, + 0.2649082957500001, + 0.0435116535 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "rolling_pin", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "rolling_pin", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_5/model.xml" + }, + 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+ "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.0094581982445066, + -3.0137048339847228, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000435/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000435/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..014a5ad347ea7d8cdbbd796a1db4f79165f9b6bd --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000435/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "carrot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.17814463557448615, + 0.08637299397525318, + 0.13271259301848515 + ], + "size": [ + 0.4120868976143814, + 0.5603790231143407 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.07187632649999998, + 0.07369929299999997, + 0.07373744474999996 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_3/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + 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+1,653 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09431713873401872, + 0.1835105829355773 + ], + "size": [ + 0.4128378194384873, + 0.5356103330552707 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.09721456140000002, + 0.1099915454, + 0.031097501600000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagel", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bagel", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_6/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.051477194, + 0.25675598699999996, + 0.051140799 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tongs", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tongs", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs009/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { 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file diff --git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000457/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000457/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d27fc55adf150505dd5aed5bb3d6841d06f2661 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000457/ep_meta.json @@ -0,0 +1,507 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_4/model.xml" + }, + "reset_region": { + "offset": [ + 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000466/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000466/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f52083a2a74b5ef80aa1b1b21c4947d428cc4fd0 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000466/ep_meta.json @@ -0,0 +1,579 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebab_skewer", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kebab_skewer", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer004/model.xml" + }, + "reset_region": { + "offset": [ + 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a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000472/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000472/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03b3258daf1d17363daa0d46912a9f70983db0c6 --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000472/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml" + }, + "reset_region": { + "offset": [ + 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--git a/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000474/ep_meta.json b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000474/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10e5521aaca2e948f02bba26ecced0a9f269109f --- /dev/null +++ b/target/atomic/CloseFridge/20250816/lerobot/extras/episode_000474/ep_meta.json @@ -0,0 +1,706 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml" + }, + "reset_region": { + "offset": [ + 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}, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bar", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.17161175935390083, + -0.002463421028568155, + -0.12892606814174665 + ], + "size": [ + 0.3777878236752896, + 0.4259307934615755 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.04332837600000001, + 0.2649082957500001, + 0.0435116535 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "rolling_pin", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": 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"tasks": ["Pick the lemon wedge from the sink and place it on the plate located on the counter."], "length": 422} +{"episode_index": 81, "tasks": ["Pick the bell pepper from the sink and place it on the plate located on the counter."], "length": 327} +{"episode_index": 82, "tasks": ["Pick the peach from the sink and place it on the plate located on the counter."], "length": 440} +{"episode_index": 83, "tasks": ["Pick the lemon wedge from the sink and place it on the plate located on the counter."], "length": 378} +{"episode_index": 84, "tasks": ["Pick the squash from the sink and place it on the plate located on the counter."], "length": 416} +{"episode_index": 85, "tasks": ["Pick the bell pepper from the sink and place it on the plate located on the counter."], "length": 404} +{"episode_index": 86, "tasks": ["Pick the onion from the sink and place it on the plate located on the counter."], "length": 470} +{"episode_index": 87, "tasks": ["Pick the mushroom from the sink and place it on the plate located on the counter."], "length": 306} +{"episode_index": 88, "tasks": ["Pick the orange from the sink and place it on the plate located on the counter."], "length": 443} +{"episode_index": 89, "tasks": ["Pick the potato from the sink and place it on the plate located on the counter."], "length": 551} +{"episode_index": 90, "tasks": ["Pick the sweet potato from the sink and place it on the plate located on the counter."], "length": 426} +{"episode_index": 91, "tasks": ["Pick the sweet potato from the sink and place it on the plate located on the counter."], "length": 302} +{"episode_index": 92, "tasks": ["Pick the cucumber from the sink and place it on the plate located on the counter."], "length": 345} +{"episode_index": 93, "tasks": ["Pick the orange from the sink and place it on the plate located on the counter."], "length": 305} +{"episode_index": 94, "tasks": ["Pick the tomato from the sink and place it on the plate located on the counter."], "length": 494} 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place it on the plate located on the counter."], "length": 341} +{"episode_index": 118, "tasks": ["Pick the mango from the sink and place it on the plate located on the counter."], "length": 316} +{"episode_index": 119, "tasks": ["Pick the carrot from the sink and place it on the plate located on the counter."], "length": 347} +{"episode_index": 120, "tasks": ["Pick the milk from the sink and place it on the plate located on the counter."], "length": 275} +{"episode_index": 121, "tasks": ["Pick the cheese from the sink and place it on the plate located on the counter."], "length": 330} +{"episode_index": 122, "tasks": ["Pick the fish from the sink and place it on the plate located on the counter."], "length": 412} +{"episode_index": 123, "tasks": ["Pick the cucumber from the sink and place it on the plate located on the counter."], "length": 441} +{"episode_index": 124, "tasks": ["Pick the eggplant from the sink and place it on the plate located on the counter."], "length": 402} 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it on the plate located on the counter."], "length": 521} +{"episode_index": 155, "tasks": ["Pick the sweet potato from the sink and place it on the plate located on the counter."], "length": 463} +{"episode_index": 156, "tasks": ["Pick the lime from the sink and place it on the plate located on the counter."], "length": 368} +{"episode_index": 157, "tasks": ["Pick the apple from the sink and place it on the plate located on the counter."], "length": 453} +{"episode_index": 158, "tasks": ["Pick the lemon wedge from the sink and place it on the plate located on the counter."], "length": 353} +{"episode_index": 159, "tasks": ["Pick the peach from the sink and place it on the plate located on the counter."], "length": 352} +{"episode_index": 160, "tasks": ["Pick the squash from the sink and place it on the plate located on the counter."], "length": 302} +{"episode_index": 161, "tasks": ["Pick the milk from the sink and place it on the plate located on the counter."], "length": 457} 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["Pick the orange from the sink and place it on the plate located on the counter."], "length": 478} +{"episode_index": 215, "tasks": ["Pick the corn from the sink and place it on the plate located on the counter."], "length": 337} +{"episode_index": 216, "tasks": ["Pick the lime from the sink and place it on the plate located on the counter."], "length": 454} +{"episode_index": 217, "tasks": ["Pick the cheese from the sink and place it on the plate located on the counter."], "length": 317} +{"episode_index": 218, "tasks": ["Pick the mushroom from the sink and place it on the plate located on the counter."], "length": 324} +{"episode_index": 219, "tasks": ["Pick the tangerine from the sink and place it on the plate located on the counter."], "length": 404} +{"episode_index": 220, "tasks": ["Pick the shrimp from the sink and place it on the plate located on the counter."], "length": 353} +{"episode_index": 221, "tasks": ["Pick the lemon wedge from the sink and place it on the plate 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banana from the sink and place it on the plate located on the counter."], "length": 332} +{"episode_index": 491, "tasks": ["Pick the lemon wedge from the sink and place it on the plate located on the counter."], "length": 314} +{"episode_index": 492, "tasks": ["Pick the onion from the sink and place it on the plate located on the counter."], "length": 407} +{"episode_index": 493, "tasks": ["Pick the fish from the sink and place it on the plate located on the counter."], "length": 405} +{"episode_index": 494, "tasks": ["Pick the eggplant from the sink and place it on the plate located on the counter."], "length": 427} +{"episode_index": 495, "tasks": ["Pick the peach from the sink and place it on the plate located on the counter."], "length": 348} +{"episode_index": 496, "tasks": ["Pick the steak from the sink and place it on the plate located on the counter."], "length": 412} +{"episode_index": 497, "tasks": ["Pick the yogurt from the sink and place it on the plate located on the 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0000000000000000000000000000000000000000..6d69a297e4e1a40015d5fa71f1a592de0e6e3ea7 --- /dev/null +++ b/target/atomic/PickPlaceSinkToCounter/20250813/lerobot/meta/tasks.jsonl @@ -0,0 +1,35 @@ +{"task_index": 0, "task": "Pick the egg from the sink and place it on the plate located on the counter."} +{"task_index": 1, "task": "Pick the broccoli from the sink and place it on the plate located on the counter."} +{"task_index": 2, "task": "Pick the cucumber from the sink and place it on the plate located on the counter."} +{"task_index": 3, "task": "Pick the lime from the sink and place it on the plate located on the counter."} +{"task_index": 4, "task": "Pick the yogurt from the sink and place it on the plate located on the counter."} +{"task_index": 5, "task": "Pick the corn from the sink and place it on the plate located on the counter."} +{"task_index": 6, "task": "Pick the kiwi from the sink and place it on the plate located on the counter."} +{"task_index": 7, "task": "Pick the orange from the sink and place it on the plate located on the counter."} +{"task_index": 8, "task": "Pick the cheese from the sink and place it on the plate located on the counter."} +{"task_index": 9, "task": "Pick the apple from the sink and place it on the plate located on the counter."} +{"task_index": 10, "task": "Pick the eggplant from the sink and place it on the plate located on the counter."} +{"task_index": 11, "task": "Pick the pear from the sink and place it on the plate located on the counter."} +{"task_index": 12, "task": "Pick the lemon wedge from the sink and place it on the plate located on the counter."} +{"task_index": 13, "task": "Pick the onion from the sink and place it on the plate located on the counter."} +{"task_index": 14, "task": "Pick the potato from the sink and place it on the plate located on the counter."} +{"task_index": 15, "task": "Pick the steak from the sink and place it on the plate located on the counter."} +{"task_index": 16, "task": "Pick the tomato from the sink and place it on the plate located on the counter."} +{"task_index": 17, "task": "Pick the lemon from the sink and place it on the plate located on the counter."} +{"task_index": 18, "task": "Pick the sweet potato from the sink and place it on the plate located on the counter."} +{"task_index": 19, "task": "Pick the tangerine from the sink and place it on the plate located on the counter."} +{"task_index": 20, "task": "Pick the banana from the sink and place it on the plate located on the counter."} +{"task_index": 21, "task": "Pick the milk from the sink and place it on the plate located on the counter."} +{"task_index": 22, "task": "Pick the bell pepper from the sink and place it on the plate located on the counter."} +{"task_index": 23, "task": "Pick the squash from the sink and place it on the plate located on the counter."} +{"task_index": 24, "task": "Pick the carrot from the sink and place it on the plate located on the counter."} +{"task_index": 25, "task": "Pick the garlic from the sink and place it on the plate located on the counter."} +{"task_index": 26, "task": "Pick the cream cheese stick from the sink and place it on the plate located on the counter."} +{"task_index": 27, "task": "Pick the shrimp from the sink and place it on the plate located on the counter."} +{"task_index": 28, "task": "Pick the chicken drumstick from the sink and place it on the plate located on the counter."} +{"task_index": 29, "task": "Pick the peach from the sink and place it on the plate located on the counter."} +{"task_index": 30, "task": "Pick the mushroom from the sink and place it on the plate located on the counter."} +{"task_index": 31, "task": "Pick the fish from the sink and place it on the plate located on the counter."} +{"task_index": 32, "task": "Pick the mango from the sink and place it on the plate located on the counter."} +{"task_index": 33, "task": "Pick the avocado from the sink and place it on the plate located on the counter."} +{"task_index": 34, "task": "PickPlaceSinkToCounter"}