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"Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3758599817562227, + -3.3853388229770487, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000008/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b00d10faaa23a270cdbf969cf70b2ce9c09fa977 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000008/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": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "coffee_cup", + "drink" + ], + "groups": [ + "all" + ], + "cat": "coffee_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_9/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_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": [ + 0.5, + 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": "Open the cabinet door.", + "fixture_refs": { + "fxtr": "cab_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.836167042734765, + -2.214720755666657, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000011/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c02d3a41d43d91f5de1c929f73f488c5fbebefc3 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_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_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.05619158315500001, + 0.056274295475000014, + 0.08976846480750002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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": { + "size": [ + 1.040746775018014, + 0.65 + ], + "offset": [ + 0.9796266124909931, + -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" + }, + 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+ "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" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "floor_front_room": { + "cls": "Floor" + }, + "floor_front_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "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": { 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0000000000000000000000000000000000000000..47d59579456a6598be00fbb48028dfca0248130c --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,561 @@ +{ + "layout_id": 6, + "style_id": 6, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + 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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_9/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.23981271599999987, + 0.2399972111999999, + 0.09829280159999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], 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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": [ + 1.0408722342115138, + -0.7731288161653278, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000032/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e29ee27104f51e9d6f3dd232bcac1462ec5813b --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + 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b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000033/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": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "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/AluminumFoil004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ 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+ 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000048/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a80a09ee88286f460b2577dcdc84299f0640ef08 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000048/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": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "test", + "mjcf_path": 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-0.8497478474543646, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000087/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf5c83d8c1e100471ceadb8637fdb085aeb8c40 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000087/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": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sugar_cube", + "split": "test", + "mjcf_path": 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0000000000000000000000000000000000000000..7e76bbf52148e93f9ac6366af62cdaafcf674e2e --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000111/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese_grater", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cheese_grater", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater011/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": 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b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000158/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "paprika", + "spice" + ], + "groups": [ + "all" + ], + "cat": "paprika", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika010/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.17723176000000002, + 0.21684415, + 0.25018909 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher016/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 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": 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+ }, + "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" + 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"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": "Open the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + 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index 0000000000000000000000000000000000000000..1dcc80f902344943d3c14e7e09b3d26225af6123 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000159/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "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_7/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.046066760999999984, + 0.040821181999999984, + 0.10107485099999997 + ] + }, + "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_4/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.05615706712, + 0.05765544707999999, + 0.15359830947999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_6/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 1.0, + -3.469446951953614e-17, + 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": 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0000000000000000000000000000000000000000..b888f5996ba3ad7668bf6288ae02f6173916d43d --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000162/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": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "all" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle021/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": 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file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000164/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000164/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..00ee5e510ba8ab84c990cc937775499358744765 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000164/ep_meta.json @@ -0,0 +1,563 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "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_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 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"cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "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": "Open the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + 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3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000199/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000199/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec1b38f1ef0b7f7212d7e64e2b85810743d2b972 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000199/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": "cab_2_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" + 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0.8347914936350734, + -2.1674571463409715, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000208/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000208/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf0a1d9221e2c179119f3d48a1466ba3684a4f64 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000208/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_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": 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+ }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.032571642000000005, + 0.29566243799999997, + 0.030676332 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -1.0, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + 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[ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000214/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000214/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e64b349b1303f28edc103ada6ce513e86a6026f --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000214/ep_meta.json @@ -0,0 +1,497 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "aluminum_foil", + "split": "test", + "mjcf_path": 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a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000249/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000249/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f0b50088c5c3f82276678d6d251d985e749c74b --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000249/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": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, 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+ "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": [ + 0.7669634650940599, + -0.9480110153243805, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000255/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000255/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21bb1d56aa374d3da6d738baa3de6aea953d0aeb --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000255/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_3_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_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "cab_3_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", + "jug_wide_opening", + 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0000000000000000000000000000000000000000..59b8596c4d3782f6bce2fc016ee86bf88523b9cd --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000258/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "banana", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_6/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.10308866929999999, + 0.14499998549999998, + 0.03869012669999999 + ] + }, + "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_8/model.xml" + }, + "reset_region": { + "size": [ + 1.1, + 0.65 + ], + "offset": [ + 0.575, + 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": 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1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000272/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000272/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f914dbf45642f668f66c7e09149e0e9302d16271 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000272/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": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml" + 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a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000330/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000330/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..46f3d635fde00008973c5f75ffa6017f767fd1d2 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000330/ep_meta.json @@ -0,0 +1,598 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "whisk", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "whisk", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + 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index 0000000000000000000000000000000000000000..c6f5efbf984037d1078ce7b8d7b1e2124caa0308 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000384/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": "cab_main_main_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": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + 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b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000400/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": "cab_main_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turmeric", + "spice" + ], + "groups": [ + "all" + ], + "cat": "turmeric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turmeric/Turmeric009/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 0.09019603709999995, + 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b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000404/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_main_main_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": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "cab_main_main_group", + "min_size": [ + 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"init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000405/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000405/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc5c6d67dba22d4719fc3d31074121814d6ccfe8 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000405/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "banana", + "split": "test", + "mjcf_path": 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0000000000000000000000000000000000000000..3867306891375fce6709886898bf306e8f59826d --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000406/ep_meta.json @@ -0,0 +1,469 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "spray", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.44, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + 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newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000412/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000412/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..841e28909e29668867143d0bfd21c0c6c438038f --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000412/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ladle", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "ladle", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + 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+ ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000441/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000441/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02b22f45dc821fbe2ef4e37cbc455ba2196a6cbe --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000441/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "all" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": 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newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000444/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000444/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db7ac8a00a16edb29f3085a569a8a8db54780425 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000444/ep_meta.json @@ -0,0 +1,484 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_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": [ + 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--git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000448/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000448/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82c367dda4769ef3310800199bca41ee6366f6bf --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000448/ep_meta.json @@ -0,0 +1,598 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_main_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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1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000460/ep_meta.json b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000460/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f756ff2ce9baf86b06cbbb7a64d76e884681a617 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000460/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": "cab_1_main_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": 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index 0000000000000000000000000000000000000000..de27d92fa12e190d4a1bc0116fde9c27244a1846 --- /dev/null +++ b/target/atomic/OpenCabinet/20250813/lerobot/extras/episode_000496/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_main_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "potato", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + 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