BrunoM42 commited on
Commit
a8abd84
·
1 Parent(s): 28c8d12

Remove extras

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. extras/dataset_meta.json +0 -474
  2. extras/episode_000000/ep_meta.json +0 -511
  3. extras/episode_000000/model.xml.gz +0 -3
  4. extras/episode_000000/states.npz +0 -3
  5. extras/episode_000001/ep_meta.json +0 -531
  6. extras/episode_000001/model.xml.gz +0 -3
  7. extras/episode_000001/states.npz +0 -3
  8. extras/episode_000002/ep_meta.json +0 -662
  9. extras/episode_000002/model.xml.gz +0 -3
  10. extras/episode_000002/states.npz +0 -3
  11. extras/episode_000003/ep_meta.json +0 -533
  12. extras/episode_000003/model.xml.gz +0 -3
  13. extras/episode_000003/states.npz +0 -3
  14. extras/episode_000004/ep_meta.json +0 -496
  15. extras/episode_000004/model.xml.gz +0 -3
  16. extras/episode_000004/states.npz +0 -3
  17. extras/episode_000005/ep_meta.json +0 -588
  18. extras/episode_000005/model.xml.gz +0 -3
  19. extras/episode_000005/states.npz +0 -3
  20. extras/episode_000006/ep_meta.json +0 -499
  21. extras/episode_000006/model.xml.gz +0 -3
  22. extras/episode_000006/states.npz +0 -3
  23. extras/episode_000007/ep_meta.json +0 -494
  24. extras/episode_000007/model.xml.gz +0 -3
  25. extras/episode_000007/states.npz +0 -3
  26. extras/episode_000008/ep_meta.json +0 -533
  27. extras/episode_000008/model.xml.gz +0 -3
  28. extras/episode_000008/states.npz +0 -3
  29. extras/episode_000009/ep_meta.json +0 -474
  30. extras/episode_000009/model.xml.gz +0 -3
  31. extras/episode_000009/states.npz +0 -3
  32. extras/episode_000010/ep_meta.json +0 -585
  33. extras/episode_000010/model.xml.gz +0 -3
  34. extras/episode_000010/states.npz +0 -3
  35. extras/episode_000011/ep_meta.json +0 -499
  36. extras/episode_000011/model.xml.gz +0 -3
  37. extras/episode_000011/states.npz +0 -3
  38. extras/episode_000012/ep_meta.json +0 -405
  39. extras/episode_000012/model.xml.gz +0 -3
  40. extras/episode_000012/states.npz +0 -3
  41. extras/episode_000013/ep_meta.json +0 -516
  42. extras/episode_000013/model.xml.gz +0 -3
  43. extras/episode_000013/states.npz +0 -3
  44. extras/episode_000014/ep_meta.json +0 -530
  45. extras/episode_000014/model.xml.gz +0 -3
  46. extras/episode_000014/states.npz +0 -3
  47. extras/episode_000015/ep_meta.json +0 -528
  48. extras/episode_000015/model.xml.gz +0 -3
  49. extras/episode_000015/states.npz +0 -3
  50. extras/episode_000016/ep_meta.json +0 -493
extras/dataset_meta.json DELETED
@@ -1,474 +0,0 @@
1
- {
2
- "date": "8-11-2025",
3
- "env": "PickPlaceCounterToCabinet",
4
- "env_args": {
5
- "type": 1,
6
- "env_name": "PickPlaceCounterToCabinet",
7
- "env_version": "0.5.1",
8
- "robosuite_version": "1.5.2",
9
- "mujoco_version": "3.3.1",
10
- "env_kwargs": {
11
- "env_name": "PickPlaceCounterToCabinet",
12
- "robots": "PandaOmron",
13
- "layout_ids": null,
14
- "style_ids": null,
15
- "obj_instance_split": "target",
16
- "clutter_mode": 1,
17
- "translucent_robot": false,
18
- "layout_and_style_ids": [
19
- [
20
- 1,
21
- 1
22
- ],
23
- [
24
- 2,
25
- 2
26
- ],
27
- [
28
- 3,
29
- 3
30
- ],
31
- [
32
- 4,
33
- 4
34
- ],
35
- [
36
- 5,
37
- 5
38
- ],
39
- [
40
- 6,
41
- 6
42
- ],
43
- [
44
- 7,
45
- 7
46
- ],
47
- [
48
- 8,
49
- 8
50
- ],
51
- [
52
- 9,
53
- 9
54
- ],
55
- [
56
- 10,
57
- 10
58
- ]
59
- ],
60
- "controller_configs": {
61
- "type": "HYBRID_MOBILE_BASE",
62
- "composite_controller_specific_configs": {
63
- "left_offset": [
64
- 0.0,
65
- 0.0,
66
- 0.0
67
- ],
68
- "right_offset": [
69
- -0.15,
70
- 0.0,
71
- 0.35
72
- ],
73
- "left2arm_transform": [
74
- [
75
- 1,
76
- 0,
77
- 0,
78
- 0
79
- ],
80
- [
81
- 0,
82
- 1,
83
- 0,
84
- 0
85
- ],
86
- [
87
- 0,
88
- 0,
89
- 1,
90
- 0
91
- ],
92
- [
93
- 0,
94
- 0,
95
- 0,
96
- 1
97
- ]
98
- ],
99
- "right2arm_transform": [
100
- [
101
- 0,
102
- 0.7071068,
103
- 0.7071068,
104
- 0
105
- ],
106
- [
107
- 1,
108
- 0,
109
- 0,
110
- 0
111
- ],
112
- [
113
- 0,
114
- 0.7071068,
115
- -0.7071068,
116
- 0
117
- ],
118
- [
119
- 0,
120
- 0,
121
- 0,
122
- 1
123
- ]
124
- ],
125
- "left2finger_transform": [
126
- [
127
- 1,
128
- 0,
129
- 0,
130
- 0
131
- ],
132
- [
133
- 0,
134
- 1,
135
- 0,
136
- 0
137
- ],
138
- [
139
- 0,
140
- 0,
141
- 1,
142
- 0
143
- ],
144
- [
145
- 0,
146
- 0,
147
- 0,
148
- 1
149
- ]
150
- ],
151
- "right2finger_transform": [
152
- [
153
- 1,
154
- 0,
155
- 0,
156
- 0
157
- ],
158
- [
159
- 0,
160
- 1,
161
- 0,
162
- 0
163
- ],
164
- [
165
- 0,
166
- 0,
167
- 1,
168
- 0
169
- ],
170
- [
171
- 0,
172
- 0,
173
- 0,
174
- 1
175
- ]
176
- ],
177
- "body_part_ordering": [
178
- "right",
179
- "right_gripper",
180
- "base",
181
- "torso"
182
- ]
183
- },
184
- "body_parts": {
185
- "right": {
186
- "type": "OSC_POSE",
187
- "input_max": 1,
188
- "input_min": -1,
189
- "output_max": [
190
- 0.05,
191
- 0.05,
192
- 0.05,
193
- 0.5,
194
- 0.5,
195
- 0.5
196
- ],
197
- "output_min": [
198
- -0.05,
199
- -0.05,
200
- -0.05,
201
- -0.5,
202
- -0.5,
203
- -0.5
204
- ],
205
- "kp": 150,
206
- "damping_ratio": 1,
207
- "impedance_mode": "fixed",
208
- "kp_limits": [
209
- 0,
210
- 300
211
- ],
212
- "damping_ratio_limits": [
213
- 0,
214
- 10
215
- ],
216
- "position_limits": null,
217
- "orientation_limits": null,
218
- "uncouple_pos_ori": true,
219
- "input_type": "delta",
220
- "input_ref_frame": "base",
221
- "interpolation": null,
222
- "ramp_ratio": 0.2,
223
- "gripper": {
224
- "type": "GRIP"
225
- }
226
- },
227
- "torso": {
228
- "type": "JOINT_POSITION",
229
- "interpolation": "null",
230
- "kp": 2000
231
- },
232
- "base": {
233
- "type": "JOINT_VELOCITY",
234
- "interpolation": "null"
235
- }
236
- }
237
- }
238
- }
239
- },
240
- "env_info": {
241
- "env_name": "PickPlaceCounterToCabinet",
242
- "robots": "PandaOmron",
243
- "layout_ids": null,
244
- "style_ids": null,
245
- "obj_instance_split": "target",
246
- "clutter_mode": 1,
247
- "translucent_robot": true,
248
- "layout_and_style_ids": [
249
- [
250
- 1,
251
- 1
252
- ],
253
- [
254
- 2,
255
- 2
256
- ],
257
- [
258
- 3,
259
- 3
260
- ],
261
- [
262
- 4,
263
- 4
264
- ],
265
- [
266
- 5,
267
- 5
268
- ],
269
- [
270
- 6,
271
- 6
272
- ],
273
- [
274
- 7,
275
- 7
276
- ],
277
- [
278
- 8,
279
- 8
280
- ],
281
- [
282
- 9,
283
- 9
284
- ],
285
- [
286
- 10,
287
- 10
288
- ]
289
- ],
290
- "controller_configs": {
291
- "type": "HYBRID_MOBILE_BASE",
292
- "composite_controller_specific_configs": {
293
- "left_offset": [
294
- 0.0,
295
- 0.0,
296
- 0.0
297
- ],
298
- "right_offset": [
299
- -0.15,
300
- 0.0,
301
- 0.35
302
- ],
303
- "left2arm_transform": [
304
- [
305
- 1,
306
- 0,
307
- 0,
308
- 0
309
- ],
310
- [
311
- 0,
312
- 1,
313
- 0,
314
- 0
315
- ],
316
- [
317
- 0,
318
- 0,
319
- 1,
320
- 0
321
- ],
322
- [
323
- 0,
324
- 0,
325
- 0,
326
- 1
327
- ]
328
- ],
329
- "right2arm_transform": [
330
- [
331
- 0,
332
- 0.7071068,
333
- 0.7071068,
334
- 0
335
- ],
336
- [
337
- 1,
338
- 0,
339
- 0,
340
- 0
341
- ],
342
- [
343
- 0,
344
- 0.7071068,
345
- -0.7071068,
346
- 0
347
- ],
348
- [
349
- 0,
350
- 0,
351
- 0,
352
- 1
353
- ]
354
- ],
355
- "left2finger_transform": [
356
- [
357
- 1,
358
- 0,
359
- 0,
360
- 0
361
- ],
362
- [
363
- 0,
364
- 1,
365
- 0,
366
- 0
367
- ],
368
- [
369
- 0,
370
- 0,
371
- 1,
372
- 0
373
- ],
374
- [
375
- 0,
376
- 0,
377
- 0,
378
- 1
379
- ]
380
- ],
381
- "right2finger_transform": [
382
- [
383
- 1,
384
- 0,
385
- 0,
386
- 0
387
- ],
388
- [
389
- 0,
390
- 1,
391
- 0,
392
- 0
393
- ],
394
- [
395
- 0,
396
- 0,
397
- 1,
398
- 0
399
- ],
400
- [
401
- 0,
402
- 0,
403
- 0,
404
- 1
405
- ]
406
- ],
407
- "body_part_ordering": [
408
- "right",
409
- "right_gripper",
410
- "base",
411
- "torso"
412
- ]
413
- },
414
- "body_parts": {
415
- "right": {
416
- "type": "OSC_POSE",
417
- "input_max": 1,
418
- "input_min": -1,
419
- "output_max": [
420
- 0.05,
421
- 0.05,
422
- 0.05,
423
- 0.5,
424
- 0.5,
425
- 0.5
426
- ],
427
- "output_min": [
428
- -0.05,
429
- -0.05,
430
- -0.05,
431
- -0.5,
432
- -0.5,
433
- -0.5
434
- ],
435
- "kp": 150,
436
- "damping_ratio": 1,
437
- "impedance_mode": "fixed",
438
- "kp_limits": [
439
- 0,
440
- 300
441
- ],
442
- "damping_ratio_limits": [
443
- 0,
444
- 10
445
- ],
446
- "position_limits": null,
447
- "orientation_limits": null,
448
- "uncouple_pos_ori": true,
449
- "input_type": "delta",
450
- "input_ref_frame": "base",
451
- "interpolation": null,
452
- "ramp_ratio": 0.2,
453
- "gripper": {
454
- "type": "GRIP"
455
- }
456
- },
457
- "torso": {
458
- "type": "JOINT_POSITION",
459
- "interpolation": "null",
460
- "kp": 2000
461
- },
462
- "base": {
463
- "type": "JOINT_VELOCITY",
464
- "interpolation": "null"
465
- }
466
- }
467
- }
468
- },
469
- "mujoco_version": "3.3.1",
470
- "robocasa_version": "0.5.1",
471
- "robosuite_version": "1.5.2",
472
- "time": "10:39:5",
473
- "total": 131904
474
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000000/ep_meta.json DELETED
@@ -1,511 +0,0 @@
1
- {
2
- "layout_id": 6,
3
- "style_id": 6,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_1_left_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_1_left_group",
14
- "min_size": [
15
- 0.101398269,
16
- 0.101398269,
17
- 0.173826639
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "honey_bottle",
38
- "packaged_food"
39
- ],
40
- "groups": [
41
- "all"
42
- ],
43
- "cat": "honey_bottle",
44
- "split": "test",
45
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle008/model.xml"
46
- },
47
- "reset_region": {
48
- "size": [
49
- 0.9999999999999991,
50
- 0.65
51
- ],
52
- "offset": [
53
- -0.9000000000000004,
54
- 0.0,
55
- 0.46
56
- ],
57
- "name": "geom_0"
58
- }
59
- },
60
- {
61
- "name": "distr_counter",
62
- "obj_groups": "all",
63
- "placement": {
64
- "fixture": "counter_1_left_group",
65
- "sample_region_kwargs": {
66
- "ref": "cab_1_left_group",
67
- "min_size": [
68
- 0.04907442299999999,
69
- 0.11604211799999997,
70
- 0.14999999249999998
71
- ]
72
- },
73
- "size": [
74
- 1.0,
75
- 0.3
76
- ],
77
- "pos": [
78
- "ref",
79
- -1.0
80
- ],
81
- "offset": [
82
- 0.0,
83
- 0.3
84
- ]
85
- },
86
- "type": "object",
87
- "info": {
88
- "groups_containing_sampled_obj": [
89
- "all",
90
- "cereal",
91
- "packaged_food"
92
- ],
93
- "groups": [
94
- "all"
95
- ],
96
- "cat": "cereal",
97
- "split": "test",
98
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_6/model.xml"
99
- },
100
- "reset_region": {
101
- "size": [
102
- 0.9999999999999991,
103
- 0.65
104
- ],
105
- "offset": [
106
- -0.9000000000000004,
107
- 0.0,
108
- 0.46
109
- ],
110
- "name": "geom_0"
111
- }
112
- },
113
- {
114
- "name": "distr_cab",
115
- "obj_groups": "all",
116
- "placement": {
117
- "fixture": "cab_1_left_group",
118
- "size": [
119
- 1.0,
120
- 0.2
121
- ],
122
- "pos": [
123
- null,
124
- 1.0
125
- ],
126
- "offset": [
127
- 0.0,
128
- 0.0
129
- ]
130
- },
131
- "type": "object",
132
- "info": {
133
- "groups_containing_sampled_obj": [
134
- "all",
135
- "salt_and_pepper_shaker",
136
- "spice"
137
- ],
138
- "groups": [
139
- "all"
140
- ],
141
- "cat": "salt_and_pepper_shaker",
142
- "split": "test",
143
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/SaltShaker008/model.xml"
144
- },
145
- "reset_region": {
146
- "offset": [
147
- 0.0,
148
- 0.0,
149
- -0.43
150
- ],
151
- "size": [
152
- 0.94,
153
- 0.34
154
- ],
155
- "height": 0.2666666666666667,
156
- "name": "level0"
157
- }
158
- }
159
- ],
160
- "fixtures": {
161
- "wall_room": {
162
- "cls": "Wall"
163
- },
164
- "wall_backing_room": {
165
- "cls": "Wall"
166
- },
167
- "wall_left_room": {
168
- "cls": "Wall"
169
- },
170
- "wall_left_backing_room": {
171
- "cls": "Wall"
172
- },
173
- "wall_right_room": {
174
- "cls": "Wall"
175
- },
176
- "wall_right_backing_room": {
177
- "cls": "Wall"
178
- },
179
- "outlet_room": {
180
- "cls": "WallAccessory"
181
- },
182
- "outlet_2_room": {
183
- "cls": "WallAccessory"
184
- },
185
- "outlet_3_room": {
186
- "cls": "WallAccessory"
187
- },
188
- "light_switch_room": {
189
- "cls": "WallAccessory"
190
- },
191
- "light_switch_2_room": {
192
- "cls": "WallAccessory"
193
- },
194
- "utensil_rack_room": {
195
- "cls": "WallAccessory"
196
- },
197
- "window_group_room": {
198
- "cls": "Window"
199
- },
200
- "floor_room": {
201
- "cls": "Floor"
202
- },
203
- "floor_backing_room": {
204
- "cls": "Floor"
205
- },
206
- "cab_main_main_group": {
207
- "cls": "HingeCabinet"
208
- },
209
- "cab_corner_main_group": {
210
- "cls": "Box"
211
- },
212
- "cab_corner_2_main_group": {
213
- "cls": "Box"
214
- },
215
- "counter_corner_left_main_group": {
216
- "cls": "Counter"
217
- },
218
- "sink_main_group": {
219
- "cls": "Sink"
220
- },
221
- "counter_main_main_group": {
222
- "cls": "Counter"
223
- },
224
- "counter_corner_right_main_group": {
225
- "cls": "Counter"
226
- },
227
- "stack_1_main_group_base": {
228
- "cls": "Box"
229
- },
230
- "stack_1_main_group_1": {
231
- "cls": "Drawer"
232
- },
233
- "stack_1_main_group_2": {
234
- "cls": "Drawer"
235
- },
236
- "stack_1_main_group_3": {
237
- "cls": "Drawer"
238
- },
239
- "stack_1_main_group_4": {
240
- "cls": "Drawer"
241
- },
242
- "stack_2_main_group_base": {
243
- "cls": "Box"
244
- },
245
- "stack_2_main_group_1": {
246
- "cls": "HingeCabinet"
247
- },
248
- "stack_2_main_group_2": {
249
- "cls": "PanelCabinet"
250
- },
251
- "dishwasher_main_group": {
252
- "cls": "Dishwasher"
253
- },
254
- "stack_3_main_group_base": {
255
- "cls": "Box"
256
- },
257
- "stack_3_main_group_1": {
258
- "cls": "HingeCabinet"
259
- },
260
- "stack_3_main_group_2": {
261
- "cls": "Drawer"
262
- },
263
- "stack_3_main_group_3": {
264
- "cls": "Drawer"
265
- },
266
- "toaster_oven_main_group": {
267
- "cls": "ToasterOven"
268
- },
269
- "knife_block_main_group": {
270
- "cls": "Accessory"
271
- },
272
- "utensil_set_main_group": {
273
- "cls": "Accessory"
274
- },
275
- "tiered_basket_main_group": {
276
- "cls": "Accessory"
277
- },
278
- "paper_towel_main_group": {
279
- "cls": "Accessory"
280
- },
281
- "soap_dispenser_main_group": {
282
- "cls": "Accessory"
283
- },
284
- "counter_1_right_group": {
285
- "cls": "Counter"
286
- },
287
- "stove_right_group": {
288
- "cls": "Stove"
289
- },
290
- "counter_2_right_group": {
291
- "cls": "Counter"
292
- },
293
- "fridge_right_group": {
294
- "cls": "FridgeFrenchDoor"
295
- },
296
- "fridge_housing_right_group": {
297
- "cls": "HousingCabinet"
298
- },
299
- "counter_corner_right_group": {
300
- "cls": "Counter"
301
- },
302
- "stack_1_right_group_base": {
303
- "cls": "Box"
304
- },
305
- "stack_1_right_group_1": {
306
- "cls": "SingleCabinet"
307
- },
308
- "stack_1_right_group_2": {
309
- "cls": "Drawer"
310
- },
311
- "stack_2_right_group_base": {
312
- "cls": "Box"
313
- },
314
- "stack_2_right_group_1": {
315
- "cls": "SingleCabinet"
316
- },
317
- "stack_2_right_group_2": {
318
- "cls": "Drawer"
319
- },
320
- "cab_1_right_group": {
321
- "cls": "SingleCabinet"
322
- },
323
- "microwave_right_group": {
324
- "cls": "Microwave"
325
- },
326
- "cab_micro_right_group": {
327
- "cls": "HingeCabinet"
328
- },
329
- "cab_2_right_group": {
330
- "cls": "SingleCabinet"
331
- },
332
- "cab_3_right_group": {
333
- "cls": "HingeCabinet"
334
- },
335
- "toaster_right_group": {
336
- "cls": "Toaster"
337
- },
338
- "counter_1_left_group": {
339
- "cls": "Counter"
340
- },
341
- "counter_corner_left_group": {
342
- "cls": "Counter"
343
- },
344
- "stack_1_left_group_base": {
345
- "cls": "Box"
346
- },
347
- "stack_1_left_group_1": {
348
- "cls": "Drawer"
349
- },
350
- "stack_1_left_group_2": {
351
- "cls": "Drawer"
352
- },
353
- "stack_1_left_group_3": {
354
- "cls": "Drawer"
355
- },
356
- "stack_1_left_group_4": {
357
- "cls": "Drawer"
358
- },
359
- "stack_2_left_group_base": {
360
- "cls": "Box"
361
- },
362
- "stack_2_left_group_1": {
363
- "cls": "HingeCabinet"
364
- },
365
- "stack_2_left_group_2": {
366
- "cls": "Drawer"
367
- },
368
- "stack_2_left_group_3": {
369
- "cls": "Drawer"
370
- },
371
- "stack_3_left_group_base": {
372
- "cls": "Box"
373
- },
374
- "stack_3_left_group_1": {
375
- "cls": "HingeCabinet"
376
- },
377
- "stack_3_left_group_2": {
378
- "cls": "Drawer"
379
- },
380
- "cab_1_left_group": {
381
- "cls": "HingeCabinet"
382
- },
383
- "shelves_left_group": {
384
- "cls": "OpenCabinet"
385
- },
386
- "coffee_machine_left_group": {
387
- "cls": "CoffeeMachine"
388
- },
389
- "plant_left_group": {
390
- "cls": "Accessory"
391
- },
392
- "oil_bottle_left_group": {
393
- "cls": "Accessory"
394
- },
395
- "salt_shaker_left_group": {
396
- "cls": "Accessory"
397
- },
398
- "paprika_left_group": {
399
- "cls": "Accessory"
400
- },
401
- "cinnamon_left_group": {
402
- "cls": "Accessory"
403
- },
404
- "turmeric_left_group": {
405
- "cls": "Accessory"
406
- },
407
- "oil_bottle_left_group_auxiliary_left_group": {
408
- "cls": "Accessory"
409
- },
410
- "salt_shaker_left_group_auxiliary_left_group": {
411
- "cls": "Accessory"
412
- }
413
- },
414
- "gen_textures": {},
415
- "lang": "Pick the honey bottle from the counter and place it in the cabinet.",
416
- "fixture_refs": {
417
- "cab": "cab_1_left_group",
418
- "counter": "counter_1_left_group"
419
- },
420
- "cam_configs": {
421
- "robot0_agentview_center": {
422
- "pos": [
423
- -0.6,
424
- 0.0,
425
- 1.15
426
- ],
427
- "quat": [
428
- 0.636945903301239,
429
- 0.3325185477733612,
430
- -0.3199238181114197,
431
- -0.6175596117973328
432
- ],
433
- "parent_body": "mobilebase0_support"
434
- },
435
- "robot0_agentview_left": {
436
- "pos": [
437
- -0.5,
438
- 0.35,
439
- 1.05
440
- ],
441
- "quat": [
442
- 0.55623853,
443
- 0.29935253,
444
- -0.37678665,
445
- -0.6775092
446
- ],
447
- "camera_attribs": {
448
- "fovy": "60"
449
- },
450
- "parent_body": "mobilebase0_support"
451
- },
452
- "robot0_agentview_right": {
453
- "pos": [
454
- -0.5,
455
- -0.35,
456
- 1.05
457
- ],
458
- "quat": [
459
- 0.6775091886520386,
460
- 0.3767866790294647,
461
- -0.2993525564670563,
462
- -0.55623859167099
463
- ],
464
- "camera_attribs": {
465
- "fovy": "60"
466
- },
467
- "parent_body": "mobilebase0_support"
468
- },
469
- "robot0_frontview": {
470
- "pos": [
471
- -0.5,
472
- 0,
473
- 0.95
474
- ],
475
- "quat": [
476
- 0.6088936924934387,
477
- 0.3814677894115448,
478
- -0.3673907518386841,
479
- -0.5905545353889465
480
- ],
481
- "camera_attribs": {
482
- "fovy": "60"
483
- },
484
- "parent_body": "mobilebase0_support"
485
- },
486
- "robot0_eye_in_hand": {
487
- "pos": [
488
- 0.05,
489
- 0,
490
- 0
491
- ],
492
- "quat": [
493
- 0,
494
- 0.707107,
495
- 0.707107,
496
- 0
497
- ],
498
- "parent_body": "robot0_right_hand"
499
- }
500
- },
501
- "init_robot_base_pos": [
502
- 0.8417687532716666,
503
- -3.042670632970914,
504
- 0.0
505
- ],
506
- "init_robot_base_ori": [
507
- 0.0,
508
- 0.0,
509
- 3.1415963267948968
510
- ]
511
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000000/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:837c6c760aee027311cf83792d650a27f15c0a814acb6f5ce27a98557a28e44b
3
- size 62825
 
 
 
 
extras/episode_000000/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:dc27336bc65c760d8dc0686b9e5bff88ba5ebb9ce3cc079c8d12edd1c7ae3668
3
- size 312502
 
 
 
 
extras/episode_000001/ep_meta.json DELETED
@@ -1,531 +0,0 @@
1
- {
2
- "layout_id": 8,
3
- "style_id": 8,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_2_left_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_2_left_group",
14
- "min_size": [
15
- 0.07171906169999998,
16
- 0.08251979669999998,
17
- 0.16499999999999995
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "milk",
38
- "dairy",
39
- "drink",
40
- "food",
41
- "in_container"
42
- ],
43
- "groups": [
44
- "all"
45
- ],
46
- "cat": "milk",
47
- "split": "test",
48
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_9/model.xml"
49
- },
50
- "reset_region": {
51
- "size": [
52
- 0.5,
53
- 0.65
54
- ],
55
- "offset": [
56
- 0.0,
57
- 0.0,
58
- 0.46
59
- ],
60
- "name": "geom_0"
61
- }
62
- },
63
- {
64
- "name": "distr_counter",
65
- "obj_groups": "all",
66
- "placement": {
67
- "fixture": "counter_2_left_group",
68
- "sample_region_kwargs": {
69
- "ref": "cab_2_left_group",
70
- "min_size": [
71
- 0.07225614546202529,
72
- 0.0862813876888848,
73
- 0.06715714644103137
74
- ]
75
- },
76
- "size": [
77
- 1.0,
78
- 0.3
79
- ],
80
- "pos": [
81
- "ref",
82
- -1.0
83
- ],
84
- "offset": [
85
- 0.0,
86
- 0.3
87
- ]
88
- },
89
- "type": "object",
90
- "info": {
91
- "groups_containing_sampled_obj": [
92
- "all",
93
- "onion",
94
- "vegetable",
95
- "food",
96
- "in_container"
97
- ],
98
- "groups": [
99
- "all"
100
- ],
101
- "cat": "onion",
102
- "split": "test",
103
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_8/model.xml"
104
- },
105
- "reset_region": {
106
- "size": [
107
- 0.5,
108
- 0.65
109
- ],
110
- "offset": [
111
- 0.0,
112
- 0.0,
113
- 0.46
114
- ],
115
- "name": "geom_0"
116
- }
117
- },
118
- {
119
- "name": "distr_cab",
120
- "obj_groups": "all",
121
- "placement": {
122
- "fixture": "cab_2_left_group",
123
- "size": [
124
- 1.0,
125
- 0.2
126
- ],
127
- "pos": [
128
- null,
129
- 1.0
130
- ],
131
- "offset": [
132
- 0.0,
133
- 0.0
134
- ]
135
- },
136
- "type": "object",
137
- "info": {
138
- "groups_containing_sampled_obj": [
139
- "all",
140
- "ice_cube_tray",
141
- "receptacle"
142
- ],
143
- "groups": [
144
- "all"
145
- ],
146
- "cat": "ice_cube_tray",
147
- "split": "test",
148
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray005/model.xml"
149
- },
150
- "reset_region": {
151
- "offset": [
152
- 0.0,
153
- 0.0,
154
- -0.43
155
- ],
156
- "size": [
157
- 0.44,
158
- 0.34
159
- ],
160
- "height": 0.2666666666666667,
161
- "name": "level0"
162
- }
163
- }
164
- ],
165
- "fixtures": {
166
- "wall_room": {
167
- "cls": "Wall"
168
- },
169
- "wall_backing_room": {
170
- "cls": "Wall"
171
- },
172
- "wall_left_room": {
173
- "cls": "Wall"
174
- },
175
- "wall_left_backing_room": {
176
- "cls": "Wall"
177
- },
178
- "wall_right_room": {
179
- "cls": "Wall"
180
- },
181
- "wall_right_backing_room": {
182
- "cls": "Wall"
183
- },
184
- "outlet_room": {
185
- "cls": "WallAccessory"
186
- },
187
- "outlet_2_room": {
188
- "cls": "WallAccessory"
189
- },
190
- "light_switch_room": {
191
- "cls": "WallAccessory"
192
- },
193
- "light_switch_2_room": {
194
- "cls": "WallAccessory"
195
- },
196
- "utensil_rack_room": {
197
- "cls": "WallAccessory"
198
- },
199
- "window_group_room": {
200
- "cls": "Window"
201
- },
202
- "floor_room": {
203
- "cls": "Floor"
204
- },
205
- "floor_backing_room": {
206
- "cls": "Floor"
207
- },
208
- "stool_1_room": {
209
- "cls": "Stool"
210
- },
211
- "stool_2_room": {
212
- "cls": "Stool"
213
- },
214
- "counter_corner_main_group": {
215
- "cls": "Counter"
216
- },
217
- "counter_main_main_group": {
218
- "cls": "Counter"
219
- },
220
- "counter_corner_2_main_group": {
221
- "cls": "Counter"
222
- },
223
- "cab_corner_main_group": {
224
- "cls": "Box"
225
- },
226
- "cab_corner_2_main_group": {
227
- "cls": "Box"
228
- },
229
- "cab_main_main_group": {
230
- "cls": "HingeCabinet"
231
- },
232
- "cab_1_main_group": {
233
- "cls": "SingleCabinet"
234
- },
235
- "cab_corner_3_main_group": {
236
- "cls": "Box"
237
- },
238
- "cab_corner_4_main_group": {
239
- "cls": "Box"
240
- },
241
- "stack_1_main_group_base": {
242
- "cls": "Box"
243
- },
244
- "stack_1_main_group_1": {
245
- "cls": "HingeCabinet"
246
- },
247
- "stack_1_main_group_2": {
248
- "cls": "Drawer"
249
- },
250
- "stack_1_main_group_3": {
251
- "cls": "Drawer"
252
- },
253
- "stack_2_main_group_base": {
254
- "cls": "Box"
255
- },
256
- "stack_2_main_group_1": {
257
- "cls": "HingeCabinet"
258
- },
259
- "stack_2_main_group_2": {
260
- "cls": "Drawer"
261
- },
262
- "stack_2_main_group_3": {
263
- "cls": "Drawer"
264
- },
265
- "stack_3_main_group_base": {
266
- "cls": "Box"
267
- },
268
- "stack_3_main_group_1": {
269
- "cls": "Drawer"
270
- },
271
- "stack_3_main_group_2": {
272
- "cls": "Drawer"
273
- },
274
- "stack_3_main_group_3": {
275
- "cls": "Drawer"
276
- },
277
- "stack_3_main_group_4": {
278
- "cls": "Drawer"
279
- },
280
- "toaster_main_group": {
281
- "cls": "Toaster"
282
- },
283
- "toaster_oven_main_group": {
284
- "cls": "ToasterOven"
285
- },
286
- "oil_bottle_main_group": {
287
- "cls": "Accessory"
288
- },
289
- "fruit_bowl_main_group": {
290
- "cls": "Accessory"
291
- },
292
- "knife_block_main_group": {
293
- "cls": "Accessory"
294
- },
295
- "utensil_set_main_group": {
296
- "cls": "Accessory"
297
- },
298
- "paper_towel_main_group": {
299
- "cls": "Accessory"
300
- },
301
- "oil_bottle_main_group_auxiliary_main_group": {
302
- "cls": "Accessory"
303
- },
304
- "counter_1_front_group": {
305
- "cls": "Counter"
306
- },
307
- "counter_corner_front_group": {
308
- "cls": "Counter"
309
- },
310
- "counter_1_left_group": {
311
- "cls": "Counter"
312
- },
313
- "stove_left_group": {
314
- "cls": "Stove"
315
- },
316
- "counter_2_left_group": {
317
- "cls": "Counter"
318
- },
319
- "counter_corner_left_group": {
320
- "cls": "Counter"
321
- },
322
- "fridge_left_group": {
323
- "cls": "FridgeFrenchDoor"
324
- },
325
- "fridge_housing_left_group": {
326
- "cls": "HousingCabinet"
327
- },
328
- "stack_1_left_group_base": {
329
- "cls": "Box"
330
- },
331
- "stack_1_left_group_1": {
332
- "cls": "SingleCabinet"
333
- },
334
- "stack_1_left_group_2": {
335
- "cls": "Drawer"
336
- },
337
- "stack_2_left_group_base": {
338
- "cls": "Box"
339
- },
340
- "stack_2_left_group_1": {
341
- "cls": "SingleCabinet"
342
- },
343
- "stack_2_left_group_2": {
344
- "cls": "Drawer"
345
- },
346
- "cab_1_left_group": {
347
- "cls": "SingleCabinet"
348
- },
349
- "microwave_left_group": {
350
- "cls": "Microwave"
351
- },
352
- "cab_micro_left_group": {
353
- "cls": "HingeCabinet"
354
- },
355
- "cab_2_left_group": {
356
- "cls": "SingleCabinet"
357
- },
358
- "cab_3_left_group": {
359
- "cls": "HingeCabinet"
360
- },
361
- "coffee_machine_left_group": {
362
- "cls": "CoffeeMachine"
363
- },
364
- "salt_shaker_left_group": {
365
- "cls": "Accessory"
366
- },
367
- "salt_shaker_left_group_auxiliary_left_group": {
368
- "cls": "Accessory"
369
- },
370
- "sink_right_group": {
371
- "cls": "Sink"
372
- },
373
- "counter_1_right_group": {
374
- "cls": "Counter"
375
- },
376
- "counter_corner_right_group": {
377
- "cls": "Counter"
378
- },
379
- "counter_corner_2_right_group": {
380
- "cls": "Counter"
381
- },
382
- "stack_1_right_group_base": {
383
- "cls": "Box"
384
- },
385
- "stack_1_right_group_1": {
386
- "cls": "HingeCabinet"
387
- },
388
- "stack_1_right_group_2": {
389
- "cls": "PanelCabinet"
390
- },
391
- "dishwasher_right_group": {
392
- "cls": "Dishwasher"
393
- },
394
- "stack_2_right_group_base": {
395
- "cls": "Box"
396
- },
397
- "stack_2_right_group_1": {
398
- "cls": "Drawer"
399
- },
400
- "stack_2_right_group_2": {
401
- "cls": "Drawer"
402
- },
403
- "stack_2_right_group_3": {
404
- "cls": "Drawer"
405
- },
406
- "stack_2_right_group_4": {
407
- "cls": "Drawer"
408
- },
409
- "cab_1_right_group": {
410
- "cls": "HingeCabinet"
411
- },
412
- "shelves_right_group": {
413
- "cls": "OpenCabinet"
414
- },
415
- "flower_vase_right_group": {
416
- "cls": "Accessory"
417
- },
418
- "soap_dispenser_right_group": {
419
- "cls": "Accessory"
420
- },
421
- "glass_cup_right_group": {
422
- "cls": "Accessory"
423
- },
424
- "glass_cup_2_right_group": {
425
- "cls": "Accessory"
426
- },
427
- "paprika_right_group": {
428
- "cls": "Accessory"
429
- },
430
- "cinnamon_right_group": {
431
- "cls": "Accessory"
432
- }
433
- },
434
- "gen_textures": {},
435
- "lang": "Pick the milk from the counter and place it in the cabinet.",
436
- "fixture_refs": {
437
- "cab": "cab_2_left_group",
438
- "counter": "counter_2_left_group"
439
- },
440
- "cam_configs": {
441
- "robot0_agentview_center": {
442
- "pos": [
443
- -0.6,
444
- 0.0,
445
- 1.15
446
- ],
447
- "quat": [
448
- 0.636945903301239,
449
- 0.3325185477733612,
450
- -0.3199238181114197,
451
- -0.6175596117973328
452
- ],
453
- "parent_body": "mobilebase0_support"
454
- },
455
- "robot0_agentview_left": {
456
- "pos": [
457
- -0.5,
458
- 0.35,
459
- 1.05
460
- ],
461
- "quat": [
462
- 0.55623853,
463
- 0.29935253,
464
- -0.37678665,
465
- -0.6775092
466
- ],
467
- "camera_attribs": {
468
- "fovy": "60"
469
- },
470
- "parent_body": "mobilebase0_support"
471
- },
472
- "robot0_agentview_right": {
473
- "pos": [
474
- -0.5,
475
- -0.35,
476
- 1.05
477
- ],
478
- "quat": [
479
- 0.6775091886520386,
480
- 0.3767866790294647,
481
- -0.2993525564670563,
482
- -0.55623859167099
483
- ],
484
- "camera_attribs": {
485
- "fovy": "60"
486
- },
487
- "parent_body": "mobilebase0_support"
488
- },
489
- "robot0_frontview": {
490
- "pos": [
491
- -0.5,
492
- 0,
493
- 0.95
494
- ],
495
- "quat": [
496
- 0.6088936924934387,
497
- 0.3814677894115448,
498
- -0.3673907518386841,
499
- -0.5905545353889465
500
- ],
501
- "camera_attribs": {
502
- "fovy": "60"
503
- },
504
- "parent_body": "mobilebase0_support"
505
- },
506
- "robot0_eye_in_hand": {
507
- "pos": [
508
- 0.05,
509
- 0,
510
- 0
511
- ],
512
- "quat": [
513
- 0,
514
- 0.707107,
515
- 0.707107,
516
- 0
517
- ],
518
- "parent_body": "robot0_right_hand"
519
- }
520
- },
521
- "init_robot_base_pos": [
522
- 0.8144805755395474,
523
- -2.242967105254423,
524
- 0.0
525
- ],
526
- "init_robot_base_ori": [
527
- 0.0,
528
- 0.0,
529
- 3.1415963267948968
530
- ]
531
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000001/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:0fd4ef175ac4b3041631187e41da63451e516c8b69857dff2383af0e4a38ed85
3
- size 59307
 
 
 
 
extras/episode_000001/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:09d71b20dd7b55bddf0bf0b2e100a25f94bddd020e6651a6083e7c60a4e2b4bc
3
- size 267343
 
 
 
 
extras/episode_000002/ep_meta.json DELETED
@@ -1,662 +0,0 @@
1
- {
2
- "layout_id": 7,
3
- "style_id": 7,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_main_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_main_main_group",
14
- "min_size": [
15
- 0.03960264150000001,
16
- 0.132459354,
17
- 0.0394309296
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "sweet_potato",
38
- "vegetable",
39
- "food",
40
- "in_container",
41
- "oven_ready"
42
- ],
43
- "groups": [
44
- "all"
45
- ],
46
- "cat": "sweet_potato",
47
- "split": "test",
48
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
49
- },
50
- "reset_region": {
51
- "size": [
52
- 0.5500000000000003,
53
- 0.65
54
- ],
55
- "offset": [
56
- 1.2249999999999996,
57
- -3.469446951953614e-17,
58
- 0.46
59
- ],
60
- "name": "geom_0"
61
- }
62
- },
63
- {
64
- "name": "distr_counter",
65
- "obj_groups": "all",
66
- "placement": {
67
- "fixture": "counter_main_main_group",
68
- "sample_region_kwargs": {
69
- "ref": "cab_main_main_group",
70
- "min_size": [
71
- 0.08499978494999998,
72
- 0.08499945004999998,
73
- 0.08499999999999998
74
- ]
75
- },
76
- "size": [
77
- 1.0,
78
- 0.3
79
- ],
80
- "pos": [
81
- "ref",
82
- -1.0
83
- ],
84
- "offset": [
85
- 0.0,
86
- 0.3
87
- ]
88
- },
89
- "type": "object",
90
- "info": {
91
- "groups_containing_sampled_obj": [
92
- "all",
93
- "cup",
94
- "stackable",
95
- "receptacle"
96
- ],
97
- "groups": [
98
- "all"
99
- ],
100
- "cat": "cup",
101
- "split": "test",
102
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml"
103
- },
104
- "reset_region": {
105
- "size": [
106
- 0.5500000000000003,
107
- 0.65
108
- ],
109
- "offset": [
110
- 1.2249999999999996,
111
- -3.469446951953614e-17,
112
- 0.46
113
- ],
114
- "name": "geom_0"
115
- }
116
- },
117
- {
118
- "name": "distr_cab",
119
- "obj_groups": "all",
120
- "placement": {
121
- "fixture": "cab_main_main_group",
122
- "size": [
123
- 1.0,
124
- 0.2
125
- ],
126
- "pos": [
127
- null,
128
- 1.0
129
- ],
130
- "offset": [
131
- 0.0,
132
- 0.0
133
- ]
134
- },
135
- "type": "object",
136
- "info": {
137
- "groups_containing_sampled_obj": [
138
- "all",
139
- "baguette",
140
- "bread_food",
141
- "food",
142
- "in_container",
143
- "food_set1"
144
- ],
145
- "groups": [
146
- "all"
147
- ],
148
- "cat": "baguette",
149
- "split": "test",
150
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml"
151
- },
152
- "reset_region": {
153
- "offset": [
154
- 0.0,
155
- 0.0,
156
- -0.43
157
- ],
158
- "size": [
159
- 0.44,
160
- 0.34
161
- ],
162
- "height": 0.2666666666666667,
163
- "name": "level0"
164
- }
165
- }
166
- ],
167
- "fixtures": {
168
- "wall_room": {
169
- "cls": "Wall"
170
- },
171
- "wall_backing_room": {
172
- "cls": "Wall"
173
- },
174
- "wall_left_room": {
175
- "cls": "Wall"
176
- },
177
- "wall_left_backing_room": {
178
- "cls": "Wall"
179
- },
180
- "wall_right_room": {
181
- "cls": "Wall"
182
- },
183
- "wall_right_backing_room": {
184
- "cls": "Wall"
185
- },
186
- "floor_room": {
187
- "cls": "Floor"
188
- },
189
- "floor_backing_room": {
190
- "cls": "Floor"
191
- },
192
- "utensil_rack_room": {
193
- "cls": "WallAccessory"
194
- },
195
- "light_switch_room": {
196
- "cls": "WallAccessory"
197
- },
198
- "light_switch_2_room": {
199
- "cls": "WallAccessory"
200
- },
201
- "outlet_room": {
202
- "cls": "WallAccessory"
203
- },
204
- "outlet_2_room": {
205
- "cls": "WallAccessory"
206
- },
207
- "outlet_3_room": {
208
- "cls": "WallAccessory"
209
- },
210
- "window_group_room": {
211
- "cls": "Window"
212
- },
213
- "stool_1_room": {
214
- "cls": "Stool"
215
- },
216
- "stool_2_room": {
217
- "cls": "Stool"
218
- },
219
- "stool_3_room": {
220
- "cls": "Stool"
221
- },
222
- "counter_corner_main_group": {
223
- "cls": "Counter"
224
- },
225
- "counter_1_main_group": {
226
- "cls": "Counter"
227
- },
228
- "stovetop_main_group": {
229
- "cls": "Stovetop"
230
- },
231
- "counter_main_main_group": {
232
- "cls": "Counter"
233
- },
234
- "counter_corner_2_main_group": {
235
- "cls": "Counter"
236
- },
237
- "cab_corner_main_group": {
238
- "cls": "Box"
239
- },
240
- "cab_corner_2_main_group": {
241
- "cls": "Box"
242
- },
243
- "cab_1_main_group": {
244
- "cls": "SingleCabinet"
245
- },
246
- "hood_main_group": {
247
- "cls": "Hood"
248
- },
249
- "shelves_main_group": {
250
- "cls": "OpenCabinet"
251
- },
252
- "cab_main_main_group": {
253
- "cls": "SingleCabinet"
254
- },
255
- "cab_corner_3_main_group": {
256
- "cls": "Box"
257
- },
258
- "cab_corner_4_main_group": {
259
- "cls": "Box"
260
- },
261
- "stack_1_main_group_base": {
262
- "cls": "Box"
263
- },
264
- "stack_1_main_group_1": {
265
- "cls": "HingeCabinet"
266
- },
267
- "stack_1_main_group_2": {
268
- "cls": "Drawer"
269
- },
270
- "stack_1_main_group_3": {
271
- "cls": "Drawer"
272
- },
273
- "stack_2_main_group_base": {
274
- "cls": "Box"
275
- },
276
- "stack_2_main_group_1": {
277
- "cls": "HingeCabinet"
278
- },
279
- "stack_2_main_group_2": {
280
- "cls": "Drawer"
281
- },
282
- "stack_2_main_group_3": {
283
- "cls": "Drawer"
284
- },
285
- "stack_3_main_group_base": {
286
- "cls": "Box"
287
- },
288
- "stack_3_main_group_1": {
289
- "cls": "Drawer"
290
- },
291
- "stack_3_main_group_2": {
292
- "cls": "Drawer"
293
- },
294
- "stack_3_main_group_3": {
295
- "cls": "Drawer"
296
- },
297
- "stack_3_main_group_4": {
298
- "cls": "Drawer"
299
- },
300
- "stack_4_main_group_base": {
301
- "cls": "Box"
302
- },
303
- "stack_4_main_group_1": {
304
- "cls": "HingeCabinet"
305
- },
306
- "stack_5_main_group_base": {
307
- "cls": "Box"
308
- },
309
- "stack_5_main_group_1": {
310
- "cls": "HingeCabinet"
311
- },
312
- "stack_5_main_group_2": {
313
- "cls": "Drawer"
314
- },
315
- "stack_5_main_group_3": {
316
- "cls": "Drawer"
317
- },
318
- "stack_6_main_group_base": {
319
- "cls": "Box"
320
- },
321
- "stack_6_main_group_1": {
322
- "cls": "SingleCabinet"
323
- },
324
- "stack_6_main_group_2": {
325
- "cls": "Drawer"
326
- },
327
- "knife_block_main_group": {
328
- "cls": "Accessory"
329
- },
330
- "paper_towel_main_group": {
331
- "cls": "Accessory"
332
- },
333
- "utensil_set_main_group": {
334
- "cls": "Accessory"
335
- },
336
- "oil_bottle_main_group": {
337
- "cls": "Accessory"
338
- },
339
- "glass_cup_main_group": {
340
- "cls": "Accessory"
341
- },
342
- "glass_cup_2_main_group": {
343
- "cls": "Accessory"
344
- },
345
- "oil_bottle_main_group_auxiliary_main_group": {
346
- "cls": "Accessory"
347
- },
348
- "sink_island_group": {
349
- "cls": "Sink"
350
- },
351
- "island_island_group": {
352
- "cls": "Counter"
353
- },
354
- "island_stack_1_island_group_base": {
355
- "cls": "Box"
356
- },
357
- "island_stack_1_island_group_1": {
358
- "cls": "HingeCabinet"
359
- },
360
- "island_stack_1_island_group_2": {
361
- "cls": "PanelCabinet"
362
- },
363
- "dishwasher_island_group": {
364
- "cls": "Dishwasher"
365
- },
366
- "island_panel_cab_right_island_group_base": {
367
- "cls": "Box"
368
- },
369
- "island_panel_cab_right_island_group_1": {
370
- "cls": "PanelCabinet"
371
- },
372
- "island_cab_right_island_group_base": {
373
- "cls": "Box"
374
- },
375
- "island_cab_right_island_group_1": {
376
- "cls": "Drawer"
377
- },
378
- "island_cab_right_island_group_2": {
379
- "cls": "Drawer"
380
- },
381
- "island_cab_right_island_group_3": {
382
- "cls": "Drawer"
383
- },
384
- "island_cab_right_island_group_4": {
385
- "cls": "Drawer"
386
- },
387
- "island_panel_cab_left_island_group_base": {
388
- "cls": "Box"
389
- },
390
- "island_panel_cab_left_island_group_1": {
391
- "cls": "PanelCabinet"
392
- },
393
- "island_base_box_island_group": {
394
- "cls": "Box"
395
- },
396
- "plant_island_group": {
397
- "cls": "Accessory"
398
- },
399
- "soap_dispenser_island_group": {
400
- "cls": "Accessory"
401
- },
402
- "fruit_bowl_island_group": {
403
- "cls": "Accessory"
404
- },
405
- "salt_shaker_island_group": {
406
- "cls": "Accessory"
407
- },
408
- "salt_shaker_island_group_auxiliary_island_group": {
409
- "cls": "Accessory"
410
- },
411
- "counter_1_left_group": {
412
- "cls": "Counter"
413
- },
414
- "counter_corner_left_group": {
415
- "cls": "Counter"
416
- },
417
- "bottom_left_group_base": {
418
- "cls": "Box"
419
- },
420
- "bottom_left_group_1": {
421
- "cls": "Drawer"
422
- },
423
- "bottom_left_group_2": {
424
- "cls": "Drawer"
425
- },
426
- "oven_left_group": {
427
- "cls": "Oven"
428
- },
429
- "oven_housing_left_group": {
430
- "cls": "HousingCabinet"
431
- },
432
- "microwave_left_group": {
433
- "cls": "Microwave"
434
- },
435
- "micro_housing_left_group": {
436
- "cls": "HousingCabinet"
437
- },
438
- "top_left_group": {
439
- "cls": "HingeCabinet"
440
- },
441
- "stack_1_left_group_base": {
442
- "cls": "Box"
443
- },
444
- "stack_1_left_group_1": {
445
- "cls": "SingleCabinet"
446
- },
447
- "stack_1_left_group_2": {
448
- "cls": "Drawer"
449
- },
450
- "stack_2_left_group_base": {
451
- "cls": "Box"
452
- },
453
- "stack_2_left_group_1": {
454
- "cls": "HingeCabinet"
455
- },
456
- "stack_2_left_group_2": {
457
- "cls": "Drawer"
458
- },
459
- "stack_2_left_group_3": {
460
- "cls": "Drawer"
461
- },
462
- "stack_3_left_group_base": {
463
- "cls": "Box"
464
- },
465
- "stack_3_left_group_1": {
466
- "cls": "Drawer"
467
- },
468
- "stack_3_left_group_2": {
469
- "cls": "Drawer"
470
- },
471
- "stack_3_left_group_3": {
472
- "cls": "Drawer"
473
- },
474
- "stack_3_left_group_4": {
475
- "cls": "Drawer"
476
- },
477
- "shelves_left_group": {
478
- "cls": "OpenCabinet"
479
- },
480
- "cab_2_left_group": {
481
- "cls": "SingleCabinet"
482
- },
483
- "toaster_oven_left_group": {
484
- "cls": "ToasterOven"
485
- },
486
- "paprika_left_group": {
487
- "cls": "Accessory"
488
- },
489
- "cinnamon_left_group": {
490
- "cls": "Accessory"
491
- },
492
- "turmeric_left_group": {
493
- "cls": "Accessory"
494
- },
495
- "jar_left_group": {
496
- "cls": "Accessory"
497
- },
498
- "jar_left_group_auxiliary_left_group": {
499
- "cls": "Accessory"
500
- },
501
- "counter_1_right_group": {
502
- "cls": "Counter"
503
- },
504
- "counter_corner_right_group": {
505
- "cls": "Counter"
506
- },
507
- "fridge_right_group": {
508
- "cls": "FridgeSideBySide"
509
- },
510
- "fridge_housing_right_group": {
511
- "cls": "HousingCabinet"
512
- },
513
- "stack_1_right_group_base": {
514
- "cls": "Box"
515
- },
516
- "stack_1_right_group_1": {
517
- "cls": "HingeCabinet"
518
- },
519
- "stack_1_right_group_2": {
520
- "cls": "Drawer"
521
- },
522
- "stack_1_right_group_3": {
523
- "cls": "Drawer"
524
- },
525
- "stack_2_right_group_base": {
526
- "cls": "Box"
527
- },
528
- "stack_2_right_group_1": {
529
- "cls": "SingleCabinet"
530
- },
531
- "stack_2_right_group_2": {
532
- "cls": "Drawer"
533
- },
534
- "stack_3_right_group_base": {
535
- "cls": "Box"
536
- },
537
- "stack_3_right_group_1": {
538
- "cls": "Drawer"
539
- },
540
- "stack_3_right_group_2": {
541
- "cls": "Drawer"
542
- },
543
- "stack_3_right_group_3": {
544
- "cls": "Drawer"
545
- },
546
- "stack_3_right_group_4": {
547
- "cls": "Drawer"
548
- },
549
- "cab_1_right_group": {
550
- "cls": "HingeCabinet"
551
- },
552
- "cab_2_right_group": {
553
- "cls": "HingeCabinet"
554
- },
555
- "fridge_cab_right_group": {
556
- "cls": "HingeCabinet"
557
- },
558
- "coffee_machine_right_group": {
559
- "cls": "CoffeeMachine"
560
- },
561
- "toaster_right_group": {
562
- "cls": "Toaster"
563
- }
564
- },
565
- "gen_textures": {},
566
- "lang": "Pick the sweet potato from the counter and place it in the cabinet.",
567
- "fixture_refs": {
568
- "cab": "cab_main_main_group",
569
- "counter": "counter_main_main_group"
570
- },
571
- "cam_configs": {
572
- "robot0_agentview_center": {
573
- "pos": [
574
- -0.6,
575
- 0.0,
576
- 1.15
577
- ],
578
- "quat": [
579
- 0.636945903301239,
580
- 0.3325185477733612,
581
- -0.3199238181114197,
582
- -0.6175596117973328
583
- ],
584
- "parent_body": "mobilebase0_support"
585
- },
586
- "robot0_agentview_left": {
587
- "pos": [
588
- -0.5,
589
- 0.35,
590
- 1.05
591
- ],
592
- "quat": [
593
- 0.55623853,
594
- 0.29935253,
595
- -0.37678665,
596
- -0.6775092
597
- ],
598
- "camera_attribs": {
599
- "fovy": "60"
600
- },
601
- "parent_body": "mobilebase0_support"
602
- },
603
- "robot0_agentview_right": {
604
- "pos": [
605
- -0.5,
606
- -0.35,
607
- 1.05
608
- ],
609
- "quat": [
610
- 0.6775091886520386,
611
- 0.3767866790294647,
612
- -0.2993525564670563,
613
- -0.55623859167099
614
- ],
615
- "camera_attribs": {
616
- "fovy": "60"
617
- },
618
- "parent_body": "mobilebase0_support"
619
- },
620
- "robot0_frontview": {
621
- "pos": [
622
- -0.5,
623
- 0,
624
- 0.95
625
- ],
626
- "quat": [
627
- 0.6088936924934387,
628
- 0.3814677894115448,
629
- -0.3673907518386841,
630
- -0.5905545353889465
631
- ],
632
- "camera_attribs": {
633
- "fovy": "60"
634
- },
635
- "parent_body": "mobilebase0_support"
636
- },
637
- "robot0_eye_in_hand": {
638
- "pos": [
639
- 0.05,
640
- 0,
641
- 0
642
- ],
643
- "quat": [
644
- 0,
645
- 0.707107,
646
- 0.707107,
647
- 0
648
- ],
649
- "parent_body": "robot0_right_hand"
650
- }
651
- },
652
- "init_robot_base_pos": [
653
- 5.3069887273456,
654
- -0.8089356337762665,
655
- 0.0
656
- ],
657
- "init_robot_base_ori": [
658
- 0.0,
659
- 0.0,
660
- 1.5707963267948966
661
- ]
662
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000002/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:e49b5811648c1872b39218e9146b16cfa8c46412b731dd5a5c9e50f20efb1b20
3
- size 81198
 
 
 
 
extras/episode_000002/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:1bf81a8f858967d84b1382f29b89beedb4c6fe13ce07d14aac7bebbf6381f75b
3
- size 179755
 
 
 
 
extras/episode_000003/ep_meta.json DELETED
@@ -1,533 +0,0 @@
1
- {
2
- "layout_id": 8,
3
- "style_id": 8,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_1_right_group",
12
- "sample_region_kwargs": {
13
- "ref": "shelves_right_group",
14
- "min_size": [
15
- 0.04298561706999999,
16
- 0.09267606677999994,
17
- 0.062462089690000014
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "cheese",
38
- "dairy",
39
- "food",
40
- "in_container",
41
- "food_set1"
42
- ],
43
- "groups": [
44
- "all"
45
- ],
46
- "cat": "cheese",
47
- "split": "test",
48
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_5/model.xml"
49
- },
50
- "reset_region": {
51
- "size": [
52
- 1.020000000000001,
53
- 0.65
54
- ],
55
- "offset": [
56
- 0.4500000000000002,
57
- -3.469446951953614e-17,
58
- 0.46
59
- ],
60
- "name": "geom_0"
61
- }
62
- },
63
- {
64
- "name": "distr_counter",
65
- "obj_groups": "all",
66
- "placement": {
67
- "fixture": "counter_1_right_group",
68
- "sample_region_kwargs": {
69
- "ref": "shelves_right_group",
70
- "min_size": [
71
- 0.026326,
72
- 0.027194,
73
- 0.02214986
74
- ]
75
- },
76
- "size": [
77
- 1.0,
78
- 0.3
79
- ],
80
- "pos": [
81
- "ref",
82
- -1.0
83
- ],
84
- "offset": [
85
- 0.0,
86
- 0.3
87
- ]
88
- },
89
- "type": "object",
90
- "info": {
91
- "groups_containing_sampled_obj": [
92
- "all",
93
- "sugar_cube",
94
- "sweets",
95
- "food",
96
- "in_container"
97
- ],
98
- "groups": [
99
- "all"
100
- ],
101
- "cat": "sugar_cube",
102
- "split": "test",
103
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube004/model.xml"
104
- },
105
- "reset_region": {
106
- "size": [
107
- 1.020000000000001,
108
- 0.65
109
- ],
110
- "offset": [
111
- 0.4500000000000002,
112
- -3.469446951953614e-17,
113
- 0.46
114
- ],
115
- "name": "geom_0"
116
- }
117
- },
118
- {
119
- "name": "distr_cab",
120
- "obj_groups": "all",
121
- "placement": {
122
- "fixture": "shelves_right_group",
123
- "size": [
124
- 1.0,
125
- 0.2
126
- ],
127
- "pos": [
128
- null,
129
- 1.0
130
- ],
131
- "offset": [
132
- 0.0,
133
- 0.0
134
- ]
135
- },
136
- "type": "object",
137
- "info": {
138
- "groups_containing_sampled_obj": [
139
- "all",
140
- "squash",
141
- "vegetable",
142
- "food",
143
- "in_container"
144
- ],
145
- "groups": [
146
- "all"
147
- ],
148
- "cat": "squash",
149
- "split": "test",
150
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
151
- },
152
- "reset_region": {
153
- "offset": [
154
- 0.0,
155
- 0.0,
156
- -0.43000000000000005
157
- ],
158
- "size": [
159
- 1.0,
160
- 0.4
161
- ],
162
- "height": 0.41500000000000004,
163
- "name": "level0"
164
- }
165
- }
166
- ],
167
- "fixtures": {
168
- "wall_room": {
169
- "cls": "Wall"
170
- },
171
- "wall_backing_room": {
172
- "cls": "Wall"
173
- },
174
- "wall_left_room": {
175
- "cls": "Wall"
176
- },
177
- "wall_left_backing_room": {
178
- "cls": "Wall"
179
- },
180
- "wall_right_room": {
181
- "cls": "Wall"
182
- },
183
- "wall_right_backing_room": {
184
- "cls": "Wall"
185
- },
186
- "outlet_room": {
187
- "cls": "WallAccessory"
188
- },
189
- "outlet_2_room": {
190
- "cls": "WallAccessory"
191
- },
192
- "light_switch_room": {
193
- "cls": "WallAccessory"
194
- },
195
- "light_switch_2_room": {
196
- "cls": "WallAccessory"
197
- },
198
- "utensil_rack_room": {
199
- "cls": "WallAccessory"
200
- },
201
- "window_group_room": {
202
- "cls": "Window"
203
- },
204
- "floor_room": {
205
- "cls": "Floor"
206
- },
207
- "floor_backing_room": {
208
- "cls": "Floor"
209
- },
210
- "stool_1_room": {
211
- "cls": "Stool"
212
- },
213
- "stool_2_room": {
214
- "cls": "Stool"
215
- },
216
- "counter_corner_main_group": {
217
- "cls": "Counter"
218
- },
219
- "counter_main_main_group": {
220
- "cls": "Counter"
221
- },
222
- "counter_corner_2_main_group": {
223
- "cls": "Counter"
224
- },
225
- "cab_corner_main_group": {
226
- "cls": "Box"
227
- },
228
- "cab_corner_2_main_group": {
229
- "cls": "Box"
230
- },
231
- "cab_main_main_group": {
232
- "cls": "HingeCabinet"
233
- },
234
- "cab_1_main_group": {
235
- "cls": "SingleCabinet"
236
- },
237
- "cab_corner_3_main_group": {
238
- "cls": "Box"
239
- },
240
- "cab_corner_4_main_group": {
241
- "cls": "Box"
242
- },
243
- "stack_1_main_group_base": {
244
- "cls": "Box"
245
- },
246
- "stack_1_main_group_1": {
247
- "cls": "HingeCabinet"
248
- },
249
- "stack_1_main_group_2": {
250
- "cls": "Drawer"
251
- },
252
- "stack_1_main_group_3": {
253
- "cls": "Drawer"
254
- },
255
- "stack_2_main_group_base": {
256
- "cls": "Box"
257
- },
258
- "stack_2_main_group_1": {
259
- "cls": "HingeCabinet"
260
- },
261
- "stack_2_main_group_2": {
262
- "cls": "Drawer"
263
- },
264
- "stack_2_main_group_3": {
265
- "cls": "Drawer"
266
- },
267
- "stack_3_main_group_base": {
268
- "cls": "Box"
269
- },
270
- "stack_3_main_group_1": {
271
- "cls": "Drawer"
272
- },
273
- "stack_3_main_group_2": {
274
- "cls": "Drawer"
275
- },
276
- "stack_3_main_group_3": {
277
- "cls": "Drawer"
278
- },
279
- "stack_3_main_group_4": {
280
- "cls": "Drawer"
281
- },
282
- "toaster_main_group": {
283
- "cls": "Toaster"
284
- },
285
- "toaster_oven_main_group": {
286
- "cls": "ToasterOven"
287
- },
288
- "oil_bottle_main_group": {
289
- "cls": "Accessory"
290
- },
291
- "fruit_bowl_main_group": {
292
- "cls": "Accessory"
293
- },
294
- "knife_block_main_group": {
295
- "cls": "Accessory"
296
- },
297
- "utensil_set_main_group": {
298
- "cls": "Accessory"
299
- },
300
- "paper_towel_main_group": {
301
- "cls": "Accessory"
302
- },
303
- "oil_bottle_main_group_auxiliary_main_group": {
304
- "cls": "Accessory"
305
- },
306
- "counter_1_front_group": {
307
- "cls": "Counter"
308
- },
309
- "counter_corner_front_group": {
310
- "cls": "Counter"
311
- },
312
- "counter_1_left_group": {
313
- "cls": "Counter"
314
- },
315
- "stove_left_group": {
316
- "cls": "Stove"
317
- },
318
- "counter_2_left_group": {
319
- "cls": "Counter"
320
- },
321
- "counter_corner_left_group": {
322
- "cls": "Counter"
323
- },
324
- "fridge_left_group": {
325
- "cls": "FridgeFrenchDoor"
326
- },
327
- "fridge_housing_left_group": {
328
- "cls": "HousingCabinet"
329
- },
330
- "stack_1_left_group_base": {
331
- "cls": "Box"
332
- },
333
- "stack_1_left_group_1": {
334
- "cls": "SingleCabinet"
335
- },
336
- "stack_1_left_group_2": {
337
- "cls": "Drawer"
338
- },
339
- "stack_2_left_group_base": {
340
- "cls": "Box"
341
- },
342
- "stack_2_left_group_1": {
343
- "cls": "SingleCabinet"
344
- },
345
- "stack_2_left_group_2": {
346
- "cls": "Drawer"
347
- },
348
- "cab_1_left_group": {
349
- "cls": "SingleCabinet"
350
- },
351
- "microwave_left_group": {
352
- "cls": "Microwave"
353
- },
354
- "cab_micro_left_group": {
355
- "cls": "HingeCabinet"
356
- },
357
- "cab_2_left_group": {
358
- "cls": "SingleCabinet"
359
- },
360
- "cab_3_left_group": {
361
- "cls": "HingeCabinet"
362
- },
363
- "coffee_machine_left_group": {
364
- "cls": "CoffeeMachine"
365
- },
366
- "salt_shaker_left_group": {
367
- "cls": "Accessory"
368
- },
369
- "salt_shaker_left_group_auxiliary_left_group": {
370
- "cls": "Accessory"
371
- },
372
- "sink_right_group": {
373
- "cls": "Sink"
374
- },
375
- "counter_1_right_group": {
376
- "cls": "Counter"
377
- },
378
- "counter_corner_right_group": {
379
- "cls": "Counter"
380
- },
381
- "counter_corner_2_right_group": {
382
- "cls": "Counter"
383
- },
384
- "stack_1_right_group_base": {
385
- "cls": "Box"
386
- },
387
- "stack_1_right_group_1": {
388
- "cls": "HingeCabinet"
389
- },
390
- "stack_1_right_group_2": {
391
- "cls": "PanelCabinet"
392
- },
393
- "dishwasher_right_group": {
394
- "cls": "Dishwasher"
395
- },
396
- "stack_2_right_group_base": {
397
- "cls": "Box"
398
- },
399
- "stack_2_right_group_1": {
400
- "cls": "Drawer"
401
- },
402
- "stack_2_right_group_2": {
403
- "cls": "Drawer"
404
- },
405
- "stack_2_right_group_3": {
406
- "cls": "Drawer"
407
- },
408
- "stack_2_right_group_4": {
409
- "cls": "Drawer"
410
- },
411
- "cab_1_right_group": {
412
- "cls": "HingeCabinet"
413
- },
414
- "shelves_right_group": {
415
- "cls": "OpenCabinet"
416
- },
417
- "flower_vase_right_group": {
418
- "cls": "Accessory"
419
- },
420
- "soap_dispenser_right_group": {
421
- "cls": "Accessory"
422
- },
423
- "glass_cup_right_group": {
424
- "cls": "Accessory"
425
- },
426
- "glass_cup_2_right_group": {
427
- "cls": "Accessory"
428
- },
429
- "paprika_right_group": {
430
- "cls": "Accessory"
431
- },
432
- "cinnamon_right_group": {
433
- "cls": "Accessory"
434
- }
435
- },
436
- "gen_textures": {},
437
- "lang": "Pick the cheese from the counter and place it in the cabinet.",
438
- "fixture_refs": {
439
- "cab": "shelves_right_group",
440
- "counter": "counter_1_right_group"
441
- },
442
- "cam_configs": {
443
- "robot0_agentview_center": {
444
- "pos": [
445
- -0.6,
446
- 0.0,
447
- 1.15
448
- ],
449
- "quat": [
450
- 0.636945903301239,
451
- 0.3325185477733612,
452
- -0.3199238181114197,
453
- -0.6175596117973328
454
- ],
455
- "parent_body": "mobilebase0_support"
456
- },
457
- "robot0_agentview_left": {
458
- "pos": [
459
- -0.5,
460
- 0.35,
461
- 1.05
462
- ],
463
- "quat": [
464
- 0.55623853,
465
- 0.29935253,
466
- -0.37678665,
467
- -0.6775092
468
- ],
469
- "camera_attribs": {
470
- "fovy": "60"
471
- },
472
- "parent_body": "mobilebase0_support"
473
- },
474
- "robot0_agentview_right": {
475
- "pos": [
476
- -0.5,
477
- -0.35,
478
- 1.05
479
- ],
480
- "quat": [
481
- 0.6775091886520386,
482
- 0.3767866790294647,
483
- -0.2993525564670563,
484
- -0.55623859167099
485
- ],
486
- "camera_attribs": {
487
- "fovy": "60"
488
- },
489
- "parent_body": "mobilebase0_support"
490
- },
491
- "robot0_frontview": {
492
- "pos": [
493
- -0.5,
494
- 0,
495
- 0.95
496
- ],
497
- "quat": [
498
- 0.6088936924934387,
499
- 0.3814677894115448,
500
- -0.3673907518386841,
501
- -0.5905545353889465
502
- ],
503
- "camera_attribs": {
504
- "fovy": "60"
505
- },
506
- "parent_body": "mobilebase0_support"
507
- },
508
- "robot0_eye_in_hand": {
509
- "pos": [
510
- 0.05,
511
- 0,
512
- 0
513
- ],
514
- "quat": [
515
- 0,
516
- 0.707107,
517
- 0.707107,
518
- 0
519
- ],
520
- "parent_body": "robot0_right_hand"
521
- }
522
- },
523
- "init_robot_base_pos": [
524
- 3.5702919962163153,
525
- -2.31689427728232,
526
- 0.0
527
- ],
528
- "init_robot_base_ori": [
529
- 0.0,
530
- 0.0,
531
- -3.673205103416066e-06
532
- ]
533
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000003/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:891af9260047e46005c129635418ac8dc884e896361c3f2bddefe55b753dd104
3
- size 59795
 
 
 
 
extras/episode_000003/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:1bf15763951750f6675baa8bbe3a83e3c62c8974b8cd1ca6a77239482706f66a
3
- size 212691
 
 
 
 
extras/episode_000004/ep_meta.json DELETED
@@ -1,496 +0,0 @@
1
- {
2
- "layout_id": 5,
3
- "style_id": 5,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_main_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_main_main_group",
14
- "min_size": [
15
- 0.025089015209155997,
16
- 0.16898104405588737,
17
- 0.026982887900000002
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "carrot",
38
- "vegetable",
39
- "food",
40
- "in_container",
41
- "food_set1",
42
- "group1"
43
- ],
44
- "groups": [
45
- "all"
46
- ],
47
- "cat": "carrot",
48
- "split": "test",
49
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
50
- },
51
- "reset_region": {
52
- "size": [
53
- 1.0,
54
- 0.65
55
- ],
56
- "offset": [
57
- -0.49999999999999994,
58
- 0.0,
59
- 0.46
60
- ],
61
- "name": "geom_0"
62
- }
63
- },
64
- {
65
- "name": "distr_counter",
66
- "obj_groups": "all",
67
- "placement": {
68
- "fixture": "counter_main_main_group",
69
- "sample_region_kwargs": {
70
- "ref": "cab_main_main_group",
71
- "min_size": [
72
- 0.09359006210083821,
73
- 0.08725418367999996,
74
- 0.0745727833046697
75
- ]
76
- },
77
- "size": [
78
- 1.0,
79
- 0.3
80
- ],
81
- "pos": [
82
- "ref",
83
- -1.0
84
- ],
85
- "offset": [
86
- 0.0,
87
- 0.3
88
- ]
89
- },
90
- "type": "object",
91
- "info": {
92
- "groups_containing_sampled_obj": [
93
- "all",
94
- "broccoli",
95
- "vegetable",
96
- "food",
97
- "in_container",
98
- "oven_ready"
99
- ],
100
- "groups": [
101
- "all"
102
- ],
103
- "cat": "broccoli",
104
- "split": "test",
105
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
106
- },
107
- "reset_region": {
108
- "size": [
109
- 1.0,
110
- 0.65
111
- ],
112
- "offset": [
113
- -0.49999999999999994,
114
- 0.0,
115
- 0.46
116
- ],
117
- "name": "geom_0"
118
- }
119
- },
120
- {
121
- "name": "distr_cab",
122
- "obj_groups": "all",
123
- "placement": {
124
- "fixture": "cab_main_main_group",
125
- "size": [
126
- 1.0,
127
- 0.2
128
- ],
129
- "pos": [
130
- null,
131
- 1.0
132
- ],
133
- "offset": [
134
- 0.0,
135
- 0.0
136
- ]
137
- },
138
- "type": "object",
139
- "info": {
140
- "groups_containing_sampled_obj": [
141
- "all",
142
- "bread_flat",
143
- "bread_food",
144
- "food",
145
- "in_container"
146
- ],
147
- "groups": [
148
- "all"
149
- ],
150
- "cat": "bread_flat",
151
- "split": "test",
152
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_3/model.xml"
153
- },
154
- "reset_region": {
155
- "offset": [
156
- 0.0,
157
- 0.0,
158
- -0.43
159
- ],
160
- "size": [
161
- 0.94,
162
- 0.34
163
- ],
164
- "height": 0.2666666666666667,
165
- "name": "level0"
166
- }
167
- }
168
- ],
169
- "fixtures": {
170
- "wall_room": {
171
- "cls": "Wall"
172
- },
173
- "wall_backing_room": {
174
- "cls": "Wall"
175
- },
176
- "wall_left_room": {
177
- "cls": "Wall"
178
- },
179
- "wall_left_backing_room": {
180
- "cls": "Wall"
181
- },
182
- "wall_right_room": {
183
- "cls": "Wall"
184
- },
185
- "wall_right_backing_room": {
186
- "cls": "Wall"
187
- },
188
- "outlet_room": {
189
- "cls": "WallAccessory"
190
- },
191
- "outlet_2_room": {
192
- "cls": "WallAccessory"
193
- },
194
- "outlet_3_room": {
195
- "cls": "WallAccessory"
196
- },
197
- "untensil_rack_room": {
198
- "cls": "WallAccessory"
199
- },
200
- "light_switch_room": {
201
- "cls": "WallAccessory"
202
- },
203
- "light_switch_2_room": {
204
- "cls": "WallAccessory"
205
- },
206
- "window_group_room": {
207
- "cls": "Window"
208
- },
209
- "floor_room": {
210
- "cls": "Floor"
211
- },
212
- "floor_backing_room": {
213
- "cls": "Floor"
214
- },
215
- "sink_left_group": {
216
- "cls": "Sink"
217
- },
218
- "counter_left_group": {
219
- "cls": "Counter"
220
- },
221
- "fridge_left_group": {
222
- "cls": "FridgeBottomFreezer"
223
- },
224
- "cab_1_left_group": {
225
- "cls": "HingeCabinet"
226
- },
227
- "cab_2_left_group": {
228
- "cls": "OpenCabinet"
229
- },
230
- "stack_1_left_group_base": {
231
- "cls": "Box"
232
- },
233
- "stack_1_left_group_1": {
234
- "cls": "Drawer"
235
- },
236
- "stack_1_left_group_2": {
237
- "cls": "Drawer"
238
- },
239
- "stack_1_left_group_3": {
240
- "cls": "Drawer"
241
- },
242
- "stack_1_left_group_4": {
243
- "cls": "Drawer"
244
- },
245
- "stack_2_left_group_base": {
246
- "cls": "Box"
247
- },
248
- "stack_2_left_group_1": {
249
- "cls": "HingeCabinet"
250
- },
251
- "stack_2_left_group_2": {
252
- "cls": "Drawer"
253
- },
254
- "stack_2_left_group_3": {
255
- "cls": "Drawer"
256
- },
257
- "dishwasher_left_group": {
258
- "cls": "Dishwasher"
259
- },
260
- "stack_3_left_group_base": {
261
- "cls": "Box"
262
- },
263
- "stack_3_left_group_1": {
264
- "cls": "HingeCabinet"
265
- },
266
- "stack_3_left_group_2": {
267
- "cls": "PanelCabinet"
268
- },
269
- "stack_4_left_group_base": {
270
- "cls": "Box"
271
- },
272
- "stack_4_left_group_1": {
273
- "cls": "SingleCabinet"
274
- },
275
- "stack_4_left_group_2": {
276
- "cls": "Drawer"
277
- },
278
- "flower_vase_left_group": {
279
- "cls": "Accessory"
280
- },
281
- "soap_dispenser_left_group": {
282
- "cls": "Accessory"
283
- },
284
- "knife_block_left_group": {
285
- "cls": "Accessory"
286
- },
287
- "paprika_left_group": {
288
- "cls": "Accessory"
289
- },
290
- "cinnamon_left_group": {
291
- "cls": "Accessory"
292
- },
293
- "turmeric_left_group": {
294
- "cls": "Accessory"
295
- },
296
- "glass_cup_left_group": {
297
- "cls": "Accessory"
298
- },
299
- "digital_scale_left_group": {
300
- "cls": "Accessory"
301
- },
302
- "paper_towel_left_group": {
303
- "cls": "Accessory"
304
- },
305
- "counter_main_main_group": {
306
- "cls": "Counter"
307
- },
308
- "stove_main_group": {
309
- "cls": "Stove"
310
- },
311
- "counter_right_main_group": {
312
- "cls": "Counter"
313
- },
314
- "cab_main_main_group": {
315
- "cls": "HingeCabinet"
316
- },
317
- "cab_1_main_group": {
318
- "cls": "HingeCabinet"
319
- },
320
- "microwave_main_group": {
321
- "cls": "Microwave"
322
- },
323
- "cab_micro_main_group": {
324
- "cls": "HingeCabinet"
325
- },
326
- "cab_2_main_group": {
327
- "cls": "HingeCabinet"
328
- },
329
- "cab_3_main_group": {
330
- "cls": "HingeCabinet"
331
- },
332
- "stack_1_main_group_base": {
333
- "cls": "Box"
334
- },
335
- "stack_1_main_group_1": {
336
- "cls": "HingeCabinet"
337
- },
338
- "stack_1_main_group_2": {
339
- "cls": "Drawer"
340
- },
341
- "stack_1_main_group_3": {
342
- "cls": "Drawer"
343
- },
344
- "stack_2_main_group_base": {
345
- "cls": "Box"
346
- },
347
- "stack_2_main_group_1": {
348
- "cls": "Drawer"
349
- },
350
- "stack_2_main_group_2": {
351
- "cls": "Drawer"
352
- },
353
- "stack_2_main_group_3": {
354
- "cls": "Drawer"
355
- },
356
- "stack_2_main_group_4": {
357
- "cls": "Drawer"
358
- },
359
- "stack_3_main_group_base": {
360
- "cls": "Box"
361
- },
362
- "stack_3_main_group_1": {
363
- "cls": "HingeCabinet"
364
- },
365
- "stack_3_main_group_2": {
366
- "cls": "Drawer"
367
- },
368
- "stack_3_main_group_3": {
369
- "cls": "Drawer"
370
- },
371
- "stack_4_main_group_base": {
372
- "cls": "Box"
373
- },
374
- "stack_4_main_group_1": {
375
- "cls": "HingeCabinet"
376
- },
377
- "stack_4_main_group_2": {
378
- "cls": "Drawer"
379
- },
380
- "stack_4_main_group_3": {
381
- "cls": "Drawer"
382
- },
383
- "coffee_machine_main_group": {
384
- "cls": "CoffeeMachine"
385
- },
386
- "utensil_set_main_group": {
387
- "cls": "Accessory"
388
- },
389
- "toaster_main_group": {
390
- "cls": "Toaster"
391
- },
392
- "toaster_oven_main_group": {
393
- "cls": "ToasterOven"
394
- },
395
- "tiered_basket_main_group": {
396
- "cls": "Accessory"
397
- }
398
- },
399
- "gen_textures": {},
400
- "lang": "Pick the carrot from the counter and place it in the cabinet.",
401
- "fixture_refs": {
402
- "cab": "cab_main_main_group",
403
- "counter": "counter_main_main_group"
404
- },
405
- "cam_configs": {
406
- "robot0_agentview_center": {
407
- "pos": [
408
- -0.6,
409
- 0.0,
410
- 1.15
411
- ],
412
- "quat": [
413
- 0.636945903301239,
414
- 0.3325185477733612,
415
- -0.3199238181114197,
416
- -0.6175596117973328
417
- ],
418
- "parent_body": "mobilebase0_support"
419
- },
420
- "robot0_agentview_left": {
421
- "pos": [
422
- -0.5,
423
- 0.35,
424
- 1.05
425
- ],
426
- "quat": [
427
- 0.55623853,
428
- 0.29935253,
429
- -0.37678665,
430
- -0.6775092
431
- ],
432
- "camera_attribs": {
433
- "fovy": "60"
434
- },
435
- "parent_body": "mobilebase0_support"
436
- },
437
- "robot0_agentview_right": {
438
- "pos": [
439
- -0.5,
440
- -0.35,
441
- 1.05
442
- ],
443
- "quat": [
444
- 0.6775091886520386,
445
- 0.3767866790294647,
446
- -0.2993525564670563,
447
- -0.55623859167099
448
- ],
449
- "camera_attribs": {
450
- "fovy": "60"
451
- },
452
- "parent_body": "mobilebase0_support"
453
- },
454
- "robot0_frontview": {
455
- "pos": [
456
- -0.5,
457
- 0,
458
- 0.95
459
- ],
460
- "quat": [
461
- 0.6088936924934387,
462
- 0.3814677894115448,
463
- -0.3673907518386841,
464
- -0.5905545353889465
465
- ],
466
- "camera_attribs": {
467
- "fovy": "60"
468
- },
469
- "parent_body": "mobilebase0_support"
470
- },
471
- "robot0_eye_in_hand": {
472
- "pos": [
473
- 0.05,
474
- 0,
475
- 0
476
- ],
477
- "quat": [
478
- 0,
479
- 0.707107,
480
- 0.707107,
481
- 0
482
- ],
483
- "parent_body": "robot0_right_hand"
484
- }
485
- },
486
- "init_robot_base_pos": [
487
- 2.3838962062353417,
488
- -0.6464544351638669,
489
- 0.0
490
- ],
491
- "init_robot_base_ori": [
492
- 0.0,
493
- 0.0,
494
- -3.673205103416066e-06
495
- ]
496
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000004/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:8a5f2afca5646cac1ea20781a0aefcf26d94e63433f6f86c2384b296055b8f91
3
- size 58455
 
 
 
 
extras/episode_000004/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:f7623fb5e7e042ff9e6dfe4de6570cdb76e6e5ea3186e602557e2001ba0704da
3
- size 162617
 
 
 
 
extras/episode_000005/ep_meta.json DELETED
@@ -1,588 +0,0 @@
1
- {
2
- "layout_id": 10,
3
- "style_id": 10,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_1_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "shelves_main_group",
14
- "min_size": [
15
- 0.06036916,
16
- 0.2729098,
17
- 0.06037323
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "whisk",
38
- "utensil"
39
- ],
40
- "groups": [
41
- "all"
42
- ],
43
- "cat": "whisk",
44
- "split": "test",
45
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk006/model.xml"
46
- },
47
- "reset_region": {
48
- "size": [
49
- 1.6568101580524293,
50
- 0.65
51
- ],
52
- "offset": [
53
- 0.07159492097378539,
54
- 0.0,
55
- 0.46
56
- ],
57
- "name": "geom_0"
58
- }
59
- },
60
- {
61
- "name": "distr_counter",
62
- "obj_groups": "all",
63
- "placement": {
64
- "fixture": "counter_1_main_group",
65
- "sample_region_kwargs": {
66
- "ref": "shelves_main_group",
67
- "min_size": [
68
- 0.45,
69
- 0.08,
70
- 0.08
71
- ]
72
- },
73
- "size": [
74
- 1.0,
75
- 0.3
76
- ],
77
- "pos": [
78
- "ref",
79
- -1.0
80
- ],
81
- "offset": [
82
- 0.0,
83
- 0.3
84
- ]
85
- },
86
- "type": "object",
87
- "info": {
88
- "groups_containing_sampled_obj": [
89
- "all",
90
- "aluminum_foil",
91
- "tool",
92
- "in_container"
93
- ],
94
- "groups": [
95
- "all"
96
- ],
97
- "cat": "aluminum_foil",
98
- "split": "test",
99
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil006/model.xml"
100
- },
101
- "reset_region": {
102
- "size": [
103
- 1.6568101580524293,
104
- 0.65
105
- ],
106
- "offset": [
107
- 0.07159492097378539,
108
- 0.0,
109
- 0.46
110
- ],
111
- "name": "geom_0"
112
- }
113
- },
114
- {
115
- "name": "distr_cab",
116
- "obj_groups": "all",
117
- "placement": {
118
- "fixture": "shelves_main_group",
119
- "size": [
120
- 1.0,
121
- 0.2
122
- ],
123
- "pos": [
124
- null,
125
- 1.0
126
- ],
127
- "offset": [
128
- 0.0,
129
- 0.0
130
- ]
131
- },
132
- "type": "object",
133
- "info": {
134
- "groups_containing_sampled_obj": [
135
- "all",
136
- "cheese_grater",
137
- "tool",
138
- "in_container"
139
- ],
140
- "groups": [
141
- "all"
142
- ],
143
- "cat": "cheese_grater",
144
- "split": "test",
145
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater008/model.xml"
146
- },
147
- "reset_region": {
148
- "offset": [
149
- 0.0,
150
- 0.0,
151
- -0.43000000000000005
152
- ],
153
- "size": [
154
- 1.65,
155
- 0.4
156
- ],
157
- "height": 0.41500000000000004,
158
- "name": "level0"
159
- }
160
- }
161
- ],
162
- "fixtures": {
163
- "wall_room": {
164
- "cls": "Wall"
165
- },
166
- "wall_backing_room": {
167
- "cls": "Wall"
168
- },
169
- "wall_front_room": {
170
- "cls": "Wall"
171
- },
172
- "wall_front_backing_room": {
173
- "cls": "Wall"
174
- },
175
- "wall_left_room": {
176
- "cls": "Wall"
177
- },
178
- "wall_left_backing_room": {
179
- "cls": "Wall"
180
- },
181
- "wall_left_2_room": {
182
- "cls": "Wall"
183
- },
184
- "wall_2_left_backing_room": {
185
- "cls": "Wall"
186
- },
187
- "wall_right_room": {
188
- "cls": "Wall"
189
- },
190
- "wall_right_backing_room": {
191
- "cls": "Wall"
192
- },
193
- "utensil_rack_room": {
194
- "cls": "WallAccessory"
195
- },
196
- "outlet_room": {
197
- "cls": "WallAccessory"
198
- },
199
- "outlet_2_room": {
200
- "cls": "WallAccessory"
201
- },
202
- "outlet_3_room": {
203
- "cls": "WallAccessory"
204
- },
205
- "light_switch_room": {
206
- "cls": "WallAccessory"
207
- },
208
- "light_switch_2_room": {
209
- "cls": "WallAccessory"
210
- },
211
- "window_group_room": {
212
- "cls": "Window"
213
- },
214
- "floor_room": {
215
- "cls": "Floor"
216
- },
217
- "floor_backing_room": {
218
- "cls": "Floor"
219
- },
220
- "floor_front_room": {
221
- "cls": "Floor"
222
- },
223
- "floor_front_backing_room": {
224
- "cls": "Floor"
225
- },
226
- "stool_1_room": {
227
- "cls": "Stool"
228
- },
229
- "stool_2_room": {
230
- "cls": "Stool"
231
- },
232
- "stool_3_room": {
233
- "cls": "Stool"
234
- },
235
- "counter_corner_1_main_group": {
236
- "cls": "Counter"
237
- },
238
- "counter_main_main_group": {
239
- "cls": "Counter"
240
- },
241
- "stove_main_group": {
242
- "cls": "Stove"
243
- },
244
- "counter_1_main_group": {
245
- "cls": "Counter"
246
- },
247
- "counter_corner_2_main_group": {
248
- "cls": "Counter"
249
- },
250
- "cab_corner_main_group": {
251
- "cls": "Box"
252
- },
253
- "cab_main_main_group": {
254
- "cls": "HingeCabinet"
255
- },
256
- "cab_1_main_group": {
257
- "cls": "HingeCabinet"
258
- },
259
- "hood_main_group": {
260
- "cls": "Hood"
261
- },
262
- "shelves_main_group": {
263
- "cls": "OpenCabinet"
264
- },
265
- "cab_corner_3_main_group": {
266
- "cls": "Box"
267
- },
268
- "cab_corner_4_main_group": {
269
- "cls": "Box"
270
- },
271
- "stack_1_main_group_base": {
272
- "cls": "Box"
273
- },
274
- "stack_1_main_group_1": {
275
- "cls": "HingeCabinet"
276
- },
277
- "stack_1_main_group_2": {
278
- "cls": "Drawer"
279
- },
280
- "stack_1_main_group_3": {
281
- "cls": "Drawer"
282
- },
283
- "stack_2_main_group_base": {
284
- "cls": "Box"
285
- },
286
- "stack_2_main_group_1": {
287
- "cls": "HingeCabinet"
288
- },
289
- "stack_2_main_group_2": {
290
- "cls": "Drawer"
291
- },
292
- "stack_2_main_group_3": {
293
- "cls": "Drawer"
294
- },
295
- "right_corner_box_main_group": {
296
- "cls": "Box"
297
- },
298
- "stack_3_main_group_base": {
299
- "cls": "Box"
300
- },
301
- "stack_3_main_group_1": {
302
- "cls": "HingeCabinet"
303
- },
304
- "stack_3_main_group_2": {
305
- "cls": "Drawer"
306
- },
307
- "stack_3_main_group_3": {
308
- "cls": "Drawer"
309
- },
310
- "stack_4_main_group_base": {
311
- "cls": "Box"
312
- },
313
- "stack_4_main_group_1": {
314
- "cls": "Drawer"
315
- },
316
- "stack_4_main_group_2": {
317
- "cls": "Drawer"
318
- },
319
- "stack_4_main_group_3": {
320
- "cls": "Drawer"
321
- },
322
- "stack_4_main_group_4": {
323
- "cls": "Drawer"
324
- },
325
- "coffee_machine_main_group": {
326
- "cls": "CoffeeMachine"
327
- },
328
- "knife_block_main_group": {
329
- "cls": "Accessory"
330
- },
331
- "plant_main_group": {
332
- "cls": "Accessory"
333
- },
334
- "toaster_main_group": {
335
- "cls": "Toaster"
336
- },
337
- "toaster_oven_main_group": {
338
- "cls": "ToasterOven"
339
- },
340
- "tiered_basket_main_group": {
341
- "cls": "Accessory"
342
- },
343
- "jar_main_group": {
344
- "cls": "Accessory"
345
- },
346
- "paprika_main_group": {
347
- "cls": "Accessory"
348
- },
349
- "cinnamon_main_group": {
350
- "cls": "Accessory"
351
- },
352
- "turmeric_main_group": {
353
- "cls": "Accessory"
354
- },
355
- "salt_shaker_main_group": {
356
- "cls": "Accessory"
357
- },
358
- "jar_main_group_auxiliary_main_group": {
359
- "cls": "Accessory"
360
- },
361
- "salt_shaker_main_group_auxiliary_main_group": {
362
- "cls": "Accessory"
363
- },
364
- "fridge_left_group": {
365
- "cls": "FridgeFrenchDoor"
366
- },
367
- "fridge_housing_left_group": {
368
- "cls": "HousingCabinet"
369
- },
370
- "fridge_top_left_group": {
371
- "cls": "HingeCabinet"
372
- },
373
- "stack_left_left_group_base": {
374
- "cls": "Box"
375
- },
376
- "stack_left_left_group_1": {
377
- "cls": "SingleCabinet"
378
- },
379
- "stack_left_left_group_2": {
380
- "cls": "SingleCabinet"
381
- },
382
- "stack_right_left_group_base": {
383
- "cls": "Box"
384
- },
385
- "stack_right_left_group_1": {
386
- "cls": "SingleCabinet"
387
- },
388
- "stack_right_left_group_2": {
389
- "cls": "SingleCabinet"
390
- },
391
- "box_left_top_left_group": {
392
- "cls": "Box"
393
- },
394
- "box_left_bottom_left_group": {
395
- "cls": "Box"
396
- },
397
- "box_right_top_left_group": {
398
- "cls": "Box"
399
- },
400
- "box_right_bottom_left_group": {
401
- "cls": "Box"
402
- },
403
- "sink_right_group": {
404
- "cls": "Sink"
405
- },
406
- "counter_1_right_group": {
407
- "cls": "Counter"
408
- },
409
- "counter_corner_right_group": {
410
- "cls": "Counter"
411
- },
412
- "stack_1_right_group_base": {
413
- "cls": "Box"
414
- },
415
- "stack_1_right_group_1": {
416
- "cls": "HingeCabinet"
417
- },
418
- "stack_1_right_group_2": {
419
- "cls": "PanelCabinet"
420
- },
421
- "dishwasher_right_group": {
422
- "cls": "Dishwasher"
423
- },
424
- "stack_2_right_group_base": {
425
- "cls": "Box"
426
- },
427
- "stack_2_right_group_1": {
428
- "cls": "SingleCabinet"
429
- },
430
- "cab_1_right_group": {
431
- "cls": "HingeCabinet"
432
- },
433
- "cab_2_right_group": {
434
- "cls": "SingleCabinet"
435
- },
436
- "soap_dispenser_right_group": {
437
- "cls": "Accessory"
438
- },
439
- "counter_corner_1_front_group": {
440
- "cls": "Counter"
441
- },
442
- "counter_1_front_group": {
443
- "cls": "Counter"
444
- },
445
- "stack_1_front_group_base": {
446
- "cls": "Box"
447
- },
448
- "stack_1_front_group_1": {
449
- "cls": "HingeCabinet"
450
- },
451
- "stack_1_front_group_2": {
452
- "cls": "Drawer"
453
- },
454
- "shelves_front_group": {
455
- "cls": "OpenCabinet"
456
- },
457
- "bottom_front_group_base": {
458
- "cls": "Box"
459
- },
460
- "bottom_front_group_1": {
461
- "cls": "Drawer"
462
- },
463
- "bottom_front_group_2": {
464
- "cls": "Drawer"
465
- },
466
- "cab_middle_front_group": {
467
- "cls": "HingeCabinet"
468
- },
469
- "microwave_front_group": {
470
- "cls": "Microwave"
471
- },
472
- "micro_housing_front_group": {
473
- "cls": "HousingCabinet"
474
- },
475
- "top_front_group": {
476
- "cls": "HingeCabinet"
477
- },
478
- "utensil_set_front_group": {
479
- "cls": "Accessory"
480
- },
481
- "counter_1_dining_area_group": {
482
- "cls": "Counter"
483
- },
484
- "paper_towel_dining_area_group": {
485
- "cls": "Accessory"
486
- },
487
- "fruit_bowl_dining_area_group": {
488
- "cls": "Accessory"
489
- }
490
- },
491
- "gen_textures": {},
492
- "lang": "Pick the whisk from the counter and place it in the cabinet.",
493
- "fixture_refs": {
494
- "cab": "shelves_main_group",
495
- "counter": "counter_1_main_group"
496
- },
497
- "cam_configs": {
498
- "robot0_agentview_center": {
499
- "pos": [
500
- -0.6,
501
- 0.0,
502
- 1.15
503
- ],
504
- "quat": [
505
- 0.636945903301239,
506
- 0.3325185477733612,
507
- -0.3199238181114197,
508
- -0.6175596117973328
509
- ],
510
- "parent_body": "mobilebase0_support"
511
- },
512
- "robot0_agentview_left": {
513
- "pos": [
514
- -0.5,
515
- 0.35,
516
- 1.05
517
- ],
518
- "quat": [
519
- 0.55623853,
520
- 0.29935253,
521
- -0.37678665,
522
- -0.6775092
523
- ],
524
- "camera_attribs": {
525
- "fovy": "60"
526
- },
527
- "parent_body": "mobilebase0_support"
528
- },
529
- "robot0_agentview_right": {
530
- "pos": [
531
- -0.5,
532
- -0.35,
533
- 1.05
534
- ],
535
- "quat": [
536
- 0.6775091886520386,
537
- 0.3767866790294647,
538
- -0.2993525564670563,
539
- -0.55623859167099
540
- ],
541
- "camera_attribs": {
542
- "fovy": "60"
543
- },
544
- "parent_body": "mobilebase0_support"
545
- },
546
- "robot0_frontview": {
547
- "pos": [
548
- -0.5,
549
- 0,
550
- 0.95
551
- ],
552
- "quat": [
553
- 0.6088936924934387,
554
- 0.3814677894115448,
555
- -0.3673907518386841,
556
- -0.5905545353889465
557
- ],
558
- "camera_attribs": {
559
- "fovy": "60"
560
- },
561
- "parent_body": "mobilebase0_support"
562
- },
563
- "robot0_eye_in_hand": {
564
- "pos": [
565
- 0.05,
566
- 0,
567
- 0
568
- ],
569
- "quat": [
570
- 0,
571
- 0.707107,
572
- 0.707107,
573
- 0
574
- ],
575
- "parent_body": "robot0_right_hand"
576
- }
577
- },
578
- "init_robot_base_pos": [
579
- 4.430922689809689,
580
- -0.8058307354928902,
581
- 0.0
582
- ],
583
- "init_robot_base_ori": [
584
- 0.0,
585
- 0.0,
586
- 1.5707963267948966
587
- ]
588
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000005/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:c1b2d8d8ca4ed75228ca5b519eb7128ce811dbc5088e4b66b3e20f33715d1d20
3
- size 62826
 
 
 
 
extras/episode_000005/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:c412f07fdd47ef917b6949a188031f4645d3d0cdb3c2fb78eea35157391da66f
3
- size 135837
 
 
 
 
extras/episode_000006/ep_meta.json DELETED
@@ -1,499 +0,0 @@
1
- {
2
- "layout_id": 4,
3
- "style_id": 4,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_1_right_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "shelves_main_group",
14
- "min_size": [
15
- 0.05557421849999998,
16
- 0.05557418999999999,
17
- 0.15101328449999996
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "ketchup",
38
- "condiment"
39
- ],
40
- "groups": [
41
- "all"
42
- ],
43
- "cat": "ketchup",
44
- "split": "test",
45
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_9/model.xml"
46
- },
47
- "reset_region": {
48
- "size": [
49
- 1.0,
50
- 0.65
51
- ],
52
- "offset": [
53
- 0.5,
54
- -3.469446951953614e-17,
55
- 0.46
56
- ],
57
- "name": "geom_0"
58
- }
59
- },
60
- {
61
- "name": "distr_counter",
62
- "obj_groups": "all",
63
- "placement": {
64
- "fixture": "counter_1_right_main_group",
65
- "sample_region_kwargs": {
66
- "ref": "shelves_main_group",
67
- "min_size": [
68
- 0.05119406205499997,
69
- 0.051194067919999975,
70
- 0.19763801536999992
71
- ]
72
- },
73
- "size": [
74
- 1.0,
75
- 0.3
76
- ],
77
- "pos": [
78
- "ref",
79
- -1.0
80
- ],
81
- "offset": [
82
- 0.0,
83
- 0.3
84
- ]
85
- },
86
- "type": "object",
87
- "info": {
88
- "groups_containing_sampled_obj": [
89
- "all",
90
- "beer",
91
- "drink",
92
- "alcohol"
93
- ],
94
- "groups": [
95
- "all"
96
- ],
97
- "cat": "beer",
98
- "split": "test",
99
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_5/model.xml"
100
- },
101
- "reset_region": {
102
- "size": [
103
- 1.0,
104
- 0.65
105
- ],
106
- "offset": [
107
- 0.5,
108
- -3.469446951953614e-17,
109
- 0.46
110
- ],
111
- "name": "geom_0"
112
- }
113
- },
114
- {
115
- "name": "distr_cab",
116
- "obj_groups": "all",
117
- "placement": {
118
- "fixture": "shelves_main_group",
119
- "size": [
120
- 1.0,
121
- 0.2
122
- ],
123
- "pos": [
124
- null,
125
- 1.0
126
- ],
127
- "offset": [
128
- 0.0,
129
- 0.0
130
- ]
131
- },
132
- "type": "object",
133
- "info": {
134
- "groups_containing_sampled_obj": [
135
- "all",
136
- "onion",
137
- "vegetable",
138
- "food",
139
- "in_container"
140
- ],
141
- "groups": [
142
- "all"
143
- ],
144
- "cat": "onion",
145
- "split": "test",
146
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_7/model.xml"
147
- },
148
- "reset_region": {
149
- "offset": [
150
- 0.0,
151
- 0.0,
152
- -0.43000000000000005
153
- ],
154
- "size": [
155
- 1.0,
156
- 0.4
157
- ],
158
- "height": 0.41500000000000004,
159
- "name": "level0"
160
- }
161
- }
162
- ],
163
- "fixtures": {
164
- "wall_room": {
165
- "cls": "Wall"
166
- },
167
- "wall_backing_room": {
168
- "cls": "Wall"
169
- },
170
- "wall_left_room": {
171
- "cls": "Wall"
172
- },
173
- "wall_left_backing_room": {
174
- "cls": "Wall"
175
- },
176
- "outlet_room": {
177
- "cls": "WallAccessory"
178
- },
179
- "outlet_2_room": {
180
- "cls": "WallAccessory"
181
- },
182
- "light_switch_room": {
183
- "cls": "WallAccessory"
184
- },
185
- "light_switch_2_room": {
186
- "cls": "WallAccessory"
187
- },
188
- "window_group_room": {
189
- "cls": "Window"
190
- },
191
- "floor_room": {
192
- "cls": "Floor"
193
- },
194
- "floor_backing_room": {
195
- "cls": "Floor"
196
- },
197
- "stool_1_room": {
198
- "cls": "Stool"
199
- },
200
- "stool_2_room": {
201
- "cls": "Stool"
202
- },
203
- "stool_3_room": {
204
- "cls": "Stool"
205
- },
206
- "counter_corner_main_main_group": {
207
- "cls": "Counter"
208
- },
209
- "counter_main_main_group": {
210
- "cls": "Counter"
211
- },
212
- "stovetop_main_group": {
213
- "cls": "Stovetop"
214
- },
215
- "counter_1_right_main_group": {
216
- "cls": "Counter"
217
- },
218
- "fridge_main_group": {
219
- "cls": "FridgeFrenchDoor"
220
- },
221
- "fridge_housing_main_group": {
222
- "cls": "HousingCabinet"
223
- },
224
- "stack_1_main_group_base": {
225
- "cls": "Box"
226
- },
227
- "stack_1_main_group_1": {
228
- "cls": "Drawer"
229
- },
230
- "stack_1_main_group_2": {
231
- "cls": "Drawer"
232
- },
233
- "stack_1_main_group_3": {
234
- "cls": "Drawer"
235
- },
236
- "stack_1_main_group_4": {
237
- "cls": "Drawer"
238
- },
239
- "stack_2_main_group_base": {
240
- "cls": "Box"
241
- },
242
- "stack_2_main_group_1": {
243
- "cls": "HingeCabinet"
244
- },
245
- "stack_2_main_group_2": {
246
- "cls": "PanelCabinet"
247
- },
248
- "stack_3_main_group_base": {
249
- "cls": "Box"
250
- },
251
- "stack_3_main_group_1": {
252
- "cls": "HingeCabinet"
253
- },
254
- "stack_3_main_group_2": {
255
- "cls": "Drawer"
256
- },
257
- "stack_3_main_group_3": {
258
- "cls": "Drawer"
259
- },
260
- "hood_main_group": {
261
- "cls": "Hood"
262
- },
263
- "cab_main_main_group": {
264
- "cls": "HingeCabinet"
265
- },
266
- "shelves_main_group": {
267
- "cls": "OpenCabinet"
268
- },
269
- "fridge_cab_main_group": {
270
- "cls": "HingeCabinet"
271
- },
272
- "paper_towel_main_group": {
273
- "cls": "Accessory"
274
- },
275
- "knife_block_main_group": {
276
- "cls": "Accessory"
277
- },
278
- "toaster_main_group": {
279
- "cls": "Toaster"
280
- },
281
- "utensil_set_main_group": {
282
- "cls": "Accessory"
283
- },
284
- "toaster_oven_main_group": {
285
- "cls": "ToasterOven"
286
- },
287
- "jar_main_group": {
288
- "cls": "Accessory"
289
- },
290
- "jar_2_main_group": {
291
- "cls": "Accessory"
292
- },
293
- "glass_cup_main_group": {
294
- "cls": "Accessory"
295
- },
296
- "glass_cup_2_main_group": {
297
- "cls": "Accessory"
298
- },
299
- "jar_main_group_auxiliary_main_group": {
300
- "cls": "Accessory"
301
- },
302
- "jar_2_main_group_auxiliary_main_group": {
303
- "cls": "Accessory"
304
- },
305
- "cab_1_left_group": {
306
- "cls": "SingleCabinet"
307
- },
308
- "cab_2_left_group": {
309
- "cls": "SingleCabinet"
310
- },
311
- "cab_corner_3_left_group": {
312
- "cls": "Box"
313
- },
314
- "cab_corner_4_left_group": {
315
- "cls": "Box"
316
- },
317
- "sink_left_group": {
318
- "cls": "Sink"
319
- },
320
- "counter_1_left_left_group": {
321
- "cls": "Counter"
322
- },
323
- "counter_corner_left_group": {
324
- "cls": "Counter"
325
- },
326
- "bottom_left_group_base": {
327
- "cls": "Box"
328
- },
329
- "bottom_left_group_1": {
330
- "cls": "Drawer"
331
- },
332
- "bottom_left_group_2": {
333
- "cls": "Drawer"
334
- },
335
- "oven_left_group": {
336
- "cls": "Oven"
337
- },
338
- "oven_housing_left_group": {
339
- "cls": "HousingCabinet"
340
- },
341
- "microwave_left_group": {
342
- "cls": "Microwave"
343
- },
344
- "micro_housing_left_group": {
345
- "cls": "HousingCabinet"
346
- },
347
- "top_left_group": {
348
- "cls": "HingeCabinet"
349
- },
350
- "stack_1_left_group": {
351
- "cls": "SingleCabinet"
352
- },
353
- "dishwasher_left_group": {
354
- "cls": "Dishwasher"
355
- },
356
- "stack_2_left_group_base": {
357
- "cls": "Box"
358
- },
359
- "stack_2_left_group_1": {
360
- "cls": "HingeCabinet"
361
- },
362
- "stack_2_left_group_2": {
363
- "cls": "PanelCabinet"
364
- },
365
- "stack_3_left_group_base": {
366
- "cls": "Box"
367
- },
368
- "stack_3_left_group_1": {
369
- "cls": "HingeCabinet"
370
- },
371
- "stack_3_left_group_2": {
372
- "cls": "Drawer"
373
- },
374
- "stack_3_left_group_3": {
375
- "cls": "Drawer"
376
- },
377
- "coffee_machine_left_group": {
378
- "cls": "CoffeeMachine"
379
- },
380
- "soap_dispenser_left_group": {
381
- "cls": "Accessory"
382
- },
383
- "tiered_basket_left_group": {
384
- "cls": "Accessory"
385
- },
386
- "island_island_group": {
387
- "cls": "Counter"
388
- },
389
- "plant_island_group": {
390
- "cls": "Accessory"
391
- },
392
- "fruit_bowl_island_group": {
393
- "cls": "Accessory"
394
- },
395
- "salt_shaker_island_group": {
396
- "cls": "Accessory"
397
- },
398
- "salt_shaker_island_group_auxiliary_island_group": {
399
- "cls": "Accessory"
400
- }
401
- },
402
- "gen_textures": {},
403
- "lang": "Pick the ketchup from the counter and place it in the cabinet.",
404
- "fixture_refs": {
405
- "cab": "shelves_main_group",
406
- "counter": "counter_1_right_main_group"
407
- },
408
- "cam_configs": {
409
- "robot0_agentview_center": {
410
- "pos": [
411
- -0.6,
412
- 0.0,
413
- 1.15
414
- ],
415
- "quat": [
416
- 0.636945903301239,
417
- 0.3325185477733612,
418
- -0.3199238181114197,
419
- -0.6175596117973328
420
- ],
421
- "parent_body": "mobilebase0_support"
422
- },
423
- "robot0_agentview_left": {
424
- "pos": [
425
- -0.5,
426
- 0.35,
427
- 1.05
428
- ],
429
- "quat": [
430
- 0.55623853,
431
- 0.29935253,
432
- -0.37678665,
433
- -0.6775092
434
- ],
435
- "camera_attribs": {
436
- "fovy": "60"
437
- },
438
- "parent_body": "mobilebase0_support"
439
- },
440
- "robot0_agentview_right": {
441
- "pos": [
442
- -0.5,
443
- -0.35,
444
- 1.05
445
- ],
446
- "quat": [
447
- 0.6775091886520386,
448
- 0.3767866790294647,
449
- -0.2993525564670563,
450
- -0.55623859167099
451
- ],
452
- "camera_attribs": {
453
- "fovy": "60"
454
- },
455
- "parent_body": "mobilebase0_support"
456
- },
457
- "robot0_frontview": {
458
- "pos": [
459
- -0.5,
460
- 0,
461
- 0.95
462
- ],
463
- "quat": [
464
- 0.6088936924934387,
465
- 0.3814677894115448,
466
- -0.3673907518386841,
467
- -0.5905545353889465
468
- ],
469
- "camera_attribs": {
470
- "fovy": "60"
471
- },
472
- "parent_body": "mobilebase0_support"
473
- },
474
- "robot0_eye_in_hand": {
475
- "pos": [
476
- 0.05,
477
- 0,
478
- 0
479
- ],
480
- "quat": [
481
- 0,
482
- 0.707107,
483
- 0.707107,
484
- 0
485
- ],
486
- "parent_body": "robot0_right_hand"
487
- }
488
- },
489
- "init_robot_base_pos": [
490
- 3.082440700336524,
491
- -0.8463499219033263,
492
- 0.0
493
- ],
494
- "init_robot_base_ori": [
495
- 0.0,
496
- 0.0,
497
- 1.5707963267948966
498
- ]
499
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000006/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:a25ab25c4f01411b61983195acce05cfd46cf4cd23d355c6046e4b9d8b08afcb
3
- size 66140
 
 
 
 
extras/episode_000006/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:09e24c25903092b66a5e8eecbe7650c4dd75fe6b43adbec561daa05b7c2cda8a
3
- size 192408
 
 
 
 
extras/episode_000007/ep_meta.json DELETED
@@ -1,494 +0,0 @@
1
- {
2
- "layout_id": 5,
3
- "style_id": 5,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_right_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_3_main_group",
14
- "min_size": [
15
- 0.04598819022,
16
- 0.19389334146,
17
- 0.0428213344125
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "corn",
38
- "vegetable",
39
- "food",
40
- "in_container",
41
- "oven_ready"
42
- ],
43
- "groups": [
44
- "all"
45
- ],
46
- "cat": "corn",
47
- "split": "test",
48
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
49
- },
50
- "reset_region": {
51
- "size": [
52
- 1.0000000000000018,
53
- 0.65
54
- ],
55
- "offset": [
56
- 0.4999999999999991,
57
- 0.0,
58
- 0.46
59
- ],
60
- "name": "geom_0"
61
- }
62
- },
63
- {
64
- "name": "distr_counter",
65
- "obj_groups": "all",
66
- "placement": {
67
- "fixture": "counter_right_main_group",
68
- "sample_region_kwargs": {
69
- "ref": "cab_3_main_group",
70
- "min_size": [
71
- 0.25519503,
72
- 0.11328764999999999,
73
- 0.034692970000000004
74
- ]
75
- },
76
- "size": [
77
- 1.0,
78
- 0.3
79
- ],
80
- "pos": [
81
- "ref",
82
- -1.0
83
- ],
84
- "offset": [
85
- 0.0,
86
- 0.3
87
- ]
88
- },
89
- "type": "object",
90
- "info": {
91
- "groups_containing_sampled_obj": [
92
- "all",
93
- "ice_cube_tray",
94
- "receptacle"
95
- ],
96
- "groups": [
97
- "all"
98
- ],
99
- "cat": "ice_cube_tray",
100
- "split": "test",
101
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray007/model.xml"
102
- },
103
- "reset_region": {
104
- "size": [
105
- 1.0000000000000018,
106
- 0.65
107
- ],
108
- "offset": [
109
- 0.4999999999999991,
110
- 0.0,
111
- 0.46
112
- ],
113
- "name": "geom_0"
114
- }
115
- },
116
- {
117
- "name": "distr_cab",
118
- "obj_groups": "all",
119
- "placement": {
120
- "fixture": "cab_3_main_group",
121
- "size": [
122
- 1.0,
123
- 0.2
124
- ],
125
- "pos": [
126
- null,
127
- 1.0
128
- ],
129
- "offset": [
130
- 0.0,
131
- 0.0
132
- ]
133
- },
134
- "type": "object",
135
- "info": {
136
- "groups_containing_sampled_obj": [
137
- "all",
138
- "banana",
139
- "fruit",
140
- "food",
141
- "in_container",
142
- "food_set1",
143
- "group1"
144
- ],
145
- "groups": [
146
- "all"
147
- ],
148
- "cat": "banana",
149
- "split": "test",
150
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_8/model.xml"
151
- },
152
- "reset_region": {
153
- "offset": [
154
- 0.0,
155
- 0.0,
156
- -0.43
157
- ],
158
- "size": [
159
- 0.94,
160
- 0.34
161
- ],
162
- "height": 0.2666666666666667,
163
- "name": "level0"
164
- }
165
- }
166
- ],
167
- "fixtures": {
168
- "wall_room": {
169
- "cls": "Wall"
170
- },
171
- "wall_backing_room": {
172
- "cls": "Wall"
173
- },
174
- "wall_left_room": {
175
- "cls": "Wall"
176
- },
177
- "wall_left_backing_room": {
178
- "cls": "Wall"
179
- },
180
- "wall_right_room": {
181
- "cls": "Wall"
182
- },
183
- "wall_right_backing_room": {
184
- "cls": "Wall"
185
- },
186
- "outlet_room": {
187
- "cls": "WallAccessory"
188
- },
189
- "outlet_2_room": {
190
- "cls": "WallAccessory"
191
- },
192
- "outlet_3_room": {
193
- "cls": "WallAccessory"
194
- },
195
- "untensil_rack_room": {
196
- "cls": "WallAccessory"
197
- },
198
- "light_switch_room": {
199
- "cls": "WallAccessory"
200
- },
201
- "light_switch_2_room": {
202
- "cls": "WallAccessory"
203
- },
204
- "window_group_room": {
205
- "cls": "Window"
206
- },
207
- "floor_room": {
208
- "cls": "Floor"
209
- },
210
- "floor_backing_room": {
211
- "cls": "Floor"
212
- },
213
- "sink_left_group": {
214
- "cls": "Sink"
215
- },
216
- "counter_left_group": {
217
- "cls": "Counter"
218
- },
219
- "fridge_left_group": {
220
- "cls": "FridgeBottomFreezer"
221
- },
222
- "cab_1_left_group": {
223
- "cls": "HingeCabinet"
224
- },
225
- "cab_2_left_group": {
226
- "cls": "OpenCabinet"
227
- },
228
- "stack_1_left_group_base": {
229
- "cls": "Box"
230
- },
231
- "stack_1_left_group_1": {
232
- "cls": "Drawer"
233
- },
234
- "stack_1_left_group_2": {
235
- "cls": "Drawer"
236
- },
237
- "stack_1_left_group_3": {
238
- "cls": "Drawer"
239
- },
240
- "stack_1_left_group_4": {
241
- "cls": "Drawer"
242
- },
243
- "stack_2_left_group_base": {
244
- "cls": "Box"
245
- },
246
- "stack_2_left_group_1": {
247
- "cls": "HingeCabinet"
248
- },
249
- "stack_2_left_group_2": {
250
- "cls": "Drawer"
251
- },
252
- "stack_2_left_group_3": {
253
- "cls": "Drawer"
254
- },
255
- "dishwasher_left_group": {
256
- "cls": "Dishwasher"
257
- },
258
- "stack_3_left_group_base": {
259
- "cls": "Box"
260
- },
261
- "stack_3_left_group_1": {
262
- "cls": "HingeCabinet"
263
- },
264
- "stack_3_left_group_2": {
265
- "cls": "PanelCabinet"
266
- },
267
- "stack_4_left_group_base": {
268
- "cls": "Box"
269
- },
270
- "stack_4_left_group_1": {
271
- "cls": "SingleCabinet"
272
- },
273
- "stack_4_left_group_2": {
274
- "cls": "Drawer"
275
- },
276
- "flower_vase_left_group": {
277
- "cls": "Accessory"
278
- },
279
- "soap_dispenser_left_group": {
280
- "cls": "Accessory"
281
- },
282
- "knife_block_left_group": {
283
- "cls": "Accessory"
284
- },
285
- "paprika_left_group": {
286
- "cls": "Accessory"
287
- },
288
- "cinnamon_left_group": {
289
- "cls": "Accessory"
290
- },
291
- "turmeric_left_group": {
292
- "cls": "Accessory"
293
- },
294
- "glass_cup_left_group": {
295
- "cls": "Accessory"
296
- },
297
- "digital_scale_left_group": {
298
- "cls": "Accessory"
299
- },
300
- "paper_towel_left_group": {
301
- "cls": "Accessory"
302
- },
303
- "counter_main_main_group": {
304
- "cls": "Counter"
305
- },
306
- "stove_main_group": {
307
- "cls": "Stove"
308
- },
309
- "counter_right_main_group": {
310
- "cls": "Counter"
311
- },
312
- "cab_main_main_group": {
313
- "cls": "HingeCabinet"
314
- },
315
- "cab_1_main_group": {
316
- "cls": "HingeCabinet"
317
- },
318
- "microwave_main_group": {
319
- "cls": "Microwave"
320
- },
321
- "cab_micro_main_group": {
322
- "cls": "HingeCabinet"
323
- },
324
- "cab_2_main_group": {
325
- "cls": "HingeCabinet"
326
- },
327
- "cab_3_main_group": {
328
- "cls": "HingeCabinet"
329
- },
330
- "stack_1_main_group_base": {
331
- "cls": "Box"
332
- },
333
- "stack_1_main_group_1": {
334
- "cls": "HingeCabinet"
335
- },
336
- "stack_1_main_group_2": {
337
- "cls": "Drawer"
338
- },
339
- "stack_1_main_group_3": {
340
- "cls": "Drawer"
341
- },
342
- "stack_2_main_group_base": {
343
- "cls": "Box"
344
- },
345
- "stack_2_main_group_1": {
346
- "cls": "Drawer"
347
- },
348
- "stack_2_main_group_2": {
349
- "cls": "Drawer"
350
- },
351
- "stack_2_main_group_3": {
352
- "cls": "Drawer"
353
- },
354
- "stack_2_main_group_4": {
355
- "cls": "Drawer"
356
- },
357
- "stack_3_main_group_base": {
358
- "cls": "Box"
359
- },
360
- "stack_3_main_group_1": {
361
- "cls": "HingeCabinet"
362
- },
363
- "stack_3_main_group_2": {
364
- "cls": "Drawer"
365
- },
366
- "stack_3_main_group_3": {
367
- "cls": "Drawer"
368
- },
369
- "stack_4_main_group_base": {
370
- "cls": "Box"
371
- },
372
- "stack_4_main_group_1": {
373
- "cls": "HingeCabinet"
374
- },
375
- "stack_4_main_group_2": {
376
- "cls": "Drawer"
377
- },
378
- "stack_4_main_group_3": {
379
- "cls": "Drawer"
380
- },
381
- "coffee_machine_main_group": {
382
- "cls": "CoffeeMachine"
383
- },
384
- "utensil_set_main_group": {
385
- "cls": "Accessory"
386
- },
387
- "toaster_main_group": {
388
- "cls": "Toaster"
389
- },
390
- "toaster_oven_main_group": {
391
- "cls": "ToasterOven"
392
- },
393
- "tiered_basket_main_group": {
394
- "cls": "Accessory"
395
- }
396
- },
397
- "gen_textures": {},
398
- "lang": "Pick the corn from the counter and place it in the cabinet.",
399
- "fixture_refs": {
400
- "cab": "cab_3_main_group",
401
- "counter": "counter_right_main_group"
402
- },
403
- "cam_configs": {
404
- "robot0_agentview_center": {
405
- "pos": [
406
- -0.6,
407
- 0.0,
408
- 1.15
409
- ],
410
- "quat": [
411
- 0.636945903301239,
412
- 0.3325185477733612,
413
- -0.3199238181114197,
414
- -0.6175596117973328
415
- ],
416
- "parent_body": "mobilebase0_support"
417
- },
418
- "robot0_agentview_left": {
419
- "pos": [
420
- -0.5,
421
- 0.35,
422
- 1.05
423
- ],
424
- "quat": [
425
- 0.55623853,
426
- 0.29935253,
427
- -0.37678665,
428
- -0.6775092
429
- ],
430
- "camera_attribs": {
431
- "fovy": "60"
432
- },
433
- "parent_body": "mobilebase0_support"
434
- },
435
- "robot0_agentview_right": {
436
- "pos": [
437
- -0.5,
438
- -0.35,
439
- 1.05
440
- ],
441
- "quat": [
442
- 0.6775091886520386,
443
- 0.3767866790294647,
444
- -0.2993525564670563,
445
- -0.55623859167099
446
- ],
447
- "camera_attribs": {
448
- "fovy": "60"
449
- },
450
- "parent_body": "mobilebase0_support"
451
- },
452
- "robot0_frontview": {
453
- "pos": [
454
- -0.5,
455
- 0,
456
- 0.95
457
- ],
458
- "quat": [
459
- 0.6088936924934387,
460
- 0.3814677894115448,
461
- -0.3673907518386841,
462
- -0.5905545353889465
463
- ],
464
- "camera_attribs": {
465
- "fovy": "60"
466
- },
467
- "parent_body": "mobilebase0_support"
468
- },
469
- "robot0_eye_in_hand": {
470
- "pos": [
471
- 0.05,
472
- 0,
473
- 0
474
- ],
475
- "quat": [
476
- 0,
477
- 0.707107,
478
- 0.707107,
479
- 0
480
- ],
481
- "parent_body": "robot0_right_hand"
482
- }
483
- },
484
- "init_robot_base_pos": [
485
- 2.350902415750846,
486
- -4.441181336309613,
487
- 0.0
488
- ],
489
- "init_robot_base_ori": [
490
- 0.0,
491
- 0.0,
492
- -3.673205103416066e-06
493
- ]
494
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000007/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:07a887a5583dab66d3d8627f1cd312162d3160595015812ac784c536ac15607f
3
- size 57964
 
 
 
 
extras/episode_000007/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:ab1d4806750308a7e5d7319277416ebfb2076f4e7ce9de89eb81c4f60fe1adaf
3
- size 283382
 
 
 
 
extras/episode_000008/ep_meta.json DELETED
@@ -1,533 +0,0 @@
1
- {
2
- "layout_id": 8,
3
- "style_id": 8,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_2_left_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_2_left_group",
14
- "min_size": [
15
- 0.05855431554000001,
16
- 0.06300000000000001,
17
- 0.06098112153000001
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "apple",
38
- "fruit",
39
- "food",
40
- "in_container",
41
- "food_set1",
42
- "group1"
43
- ],
44
- "groups": [
45
- "all"
46
- ],
47
- "cat": "apple",
48
- "split": "test",
49
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_6/model.xml"
50
- },
51
- "reset_region": {
52
- "size": [
53
- 0.5,
54
- 0.65
55
- ],
56
- "offset": [
57
- 0.0,
58
- 0.0,
59
- 0.46
60
- ],
61
- "name": "geom_0"
62
- }
63
- },
64
- {
65
- "name": "distr_counter",
66
- "obj_groups": "all",
67
- "placement": {
68
- "fixture": "counter_2_left_group",
69
- "sample_region_kwargs": {
70
- "ref": "cab_2_left_group",
71
- "min_size": [
72
- 0.051480535599999995,
73
- 0.16999999999999998,
74
- 0.05319460139999999
75
- ]
76
- },
77
- "size": [
78
- 1.0,
79
- 0.3
80
- ],
81
- "pos": [
82
- "ref",
83
- -1.0
84
- ],
85
- "offset": [
86
- 0.0,
87
- 0.3
88
- ]
89
- },
90
- "type": "object",
91
- "info": {
92
- "groups_containing_sampled_obj": [
93
- "all",
94
- "cucumber",
95
- "vegetable",
96
- "food",
97
- "in_container",
98
- "food_set1"
99
- ],
100
- "groups": [
101
- "all"
102
- ],
103
- "cat": "cucumber",
104
- "split": "test",
105
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
106
- },
107
- "reset_region": {
108
- "size": [
109
- 0.5,
110
- 0.65
111
- ],
112
- "offset": [
113
- 0.0,
114
- 0.0,
115
- 0.46
116
- ],
117
- "name": "geom_0"
118
- }
119
- },
120
- {
121
- "name": "distr_cab",
122
- "obj_groups": "all",
123
- "placement": {
124
- "fixture": "cab_2_left_group",
125
- "size": [
126
- 1.0,
127
- 0.2
128
- ],
129
- "pos": [
130
- null,
131
- 1.0
132
- ],
133
- "offset": [
134
- 0.0,
135
- 0.0
136
- ]
137
- },
138
- "type": "object",
139
- "info": {
140
- "groups_containing_sampled_obj": [
141
- "all",
142
- "jam",
143
- "packaged_food"
144
- ],
145
- "groups": [
146
- "all"
147
- ],
148
- "cat": "jam",
149
- "split": "test",
150
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml"
151
- },
152
- "reset_region": {
153
- "offset": [
154
- 0.0,
155
- 0.0,
156
- -0.43
157
- ],
158
- "size": [
159
- 0.44,
160
- 0.34
161
- ],
162
- "height": 0.2666666666666667,
163
- "name": "level0"
164
- }
165
- }
166
- ],
167
- "fixtures": {
168
- "wall_room": {
169
- "cls": "Wall"
170
- },
171
- "wall_backing_room": {
172
- "cls": "Wall"
173
- },
174
- "wall_left_room": {
175
- "cls": "Wall"
176
- },
177
- "wall_left_backing_room": {
178
- "cls": "Wall"
179
- },
180
- "wall_right_room": {
181
- "cls": "Wall"
182
- },
183
- "wall_right_backing_room": {
184
- "cls": "Wall"
185
- },
186
- "outlet_room": {
187
- "cls": "WallAccessory"
188
- },
189
- "outlet_2_room": {
190
- "cls": "WallAccessory"
191
- },
192
- "light_switch_room": {
193
- "cls": "WallAccessory"
194
- },
195
- "light_switch_2_room": {
196
- "cls": "WallAccessory"
197
- },
198
- "utensil_rack_room": {
199
- "cls": "WallAccessory"
200
- },
201
- "window_group_room": {
202
- "cls": "Window"
203
- },
204
- "floor_room": {
205
- "cls": "Floor"
206
- },
207
- "floor_backing_room": {
208
- "cls": "Floor"
209
- },
210
- "stool_1_room": {
211
- "cls": "Stool"
212
- },
213
- "stool_2_room": {
214
- "cls": "Stool"
215
- },
216
- "counter_corner_main_group": {
217
- "cls": "Counter"
218
- },
219
- "counter_main_main_group": {
220
- "cls": "Counter"
221
- },
222
- "counter_corner_2_main_group": {
223
- "cls": "Counter"
224
- },
225
- "cab_corner_main_group": {
226
- "cls": "Box"
227
- },
228
- "cab_corner_2_main_group": {
229
- "cls": "Box"
230
- },
231
- "cab_main_main_group": {
232
- "cls": "HingeCabinet"
233
- },
234
- "cab_1_main_group": {
235
- "cls": "SingleCabinet"
236
- },
237
- "cab_corner_3_main_group": {
238
- "cls": "Box"
239
- },
240
- "cab_corner_4_main_group": {
241
- "cls": "Box"
242
- },
243
- "stack_1_main_group_base": {
244
- "cls": "Box"
245
- },
246
- "stack_1_main_group_1": {
247
- "cls": "HingeCabinet"
248
- },
249
- "stack_1_main_group_2": {
250
- "cls": "Drawer"
251
- },
252
- "stack_1_main_group_3": {
253
- "cls": "Drawer"
254
- },
255
- "stack_2_main_group_base": {
256
- "cls": "Box"
257
- },
258
- "stack_2_main_group_1": {
259
- "cls": "HingeCabinet"
260
- },
261
- "stack_2_main_group_2": {
262
- "cls": "Drawer"
263
- },
264
- "stack_2_main_group_3": {
265
- "cls": "Drawer"
266
- },
267
- "stack_3_main_group_base": {
268
- "cls": "Box"
269
- },
270
- "stack_3_main_group_1": {
271
- "cls": "Drawer"
272
- },
273
- "stack_3_main_group_2": {
274
- "cls": "Drawer"
275
- },
276
- "stack_3_main_group_3": {
277
- "cls": "Drawer"
278
- },
279
- "stack_3_main_group_4": {
280
- "cls": "Drawer"
281
- },
282
- "toaster_main_group": {
283
- "cls": "Toaster"
284
- },
285
- "toaster_oven_main_group": {
286
- "cls": "ToasterOven"
287
- },
288
- "oil_bottle_main_group": {
289
- "cls": "Accessory"
290
- },
291
- "fruit_bowl_main_group": {
292
- "cls": "Accessory"
293
- },
294
- "knife_block_main_group": {
295
- "cls": "Accessory"
296
- },
297
- "utensil_set_main_group": {
298
- "cls": "Accessory"
299
- },
300
- "paper_towel_main_group": {
301
- "cls": "Accessory"
302
- },
303
- "oil_bottle_main_group_auxiliary_main_group": {
304
- "cls": "Accessory"
305
- },
306
- "counter_1_front_group": {
307
- "cls": "Counter"
308
- },
309
- "counter_corner_front_group": {
310
- "cls": "Counter"
311
- },
312
- "counter_1_left_group": {
313
- "cls": "Counter"
314
- },
315
- "stove_left_group": {
316
- "cls": "Stove"
317
- },
318
- "counter_2_left_group": {
319
- "cls": "Counter"
320
- },
321
- "counter_corner_left_group": {
322
- "cls": "Counter"
323
- },
324
- "fridge_left_group": {
325
- "cls": "FridgeFrenchDoor"
326
- },
327
- "fridge_housing_left_group": {
328
- "cls": "HousingCabinet"
329
- },
330
- "stack_1_left_group_base": {
331
- "cls": "Box"
332
- },
333
- "stack_1_left_group_1": {
334
- "cls": "SingleCabinet"
335
- },
336
- "stack_1_left_group_2": {
337
- "cls": "Drawer"
338
- },
339
- "stack_2_left_group_base": {
340
- "cls": "Box"
341
- },
342
- "stack_2_left_group_1": {
343
- "cls": "SingleCabinet"
344
- },
345
- "stack_2_left_group_2": {
346
- "cls": "Drawer"
347
- },
348
- "cab_1_left_group": {
349
- "cls": "SingleCabinet"
350
- },
351
- "microwave_left_group": {
352
- "cls": "Microwave"
353
- },
354
- "cab_micro_left_group": {
355
- "cls": "HingeCabinet"
356
- },
357
- "cab_2_left_group": {
358
- "cls": "SingleCabinet"
359
- },
360
- "cab_3_left_group": {
361
- "cls": "HingeCabinet"
362
- },
363
- "coffee_machine_left_group": {
364
- "cls": "CoffeeMachine"
365
- },
366
- "salt_shaker_left_group": {
367
- "cls": "Accessory"
368
- },
369
- "salt_shaker_left_group_auxiliary_left_group": {
370
- "cls": "Accessory"
371
- },
372
- "sink_right_group": {
373
- "cls": "Sink"
374
- },
375
- "counter_1_right_group": {
376
- "cls": "Counter"
377
- },
378
- "counter_corner_right_group": {
379
- "cls": "Counter"
380
- },
381
- "counter_corner_2_right_group": {
382
- "cls": "Counter"
383
- },
384
- "stack_1_right_group_base": {
385
- "cls": "Box"
386
- },
387
- "stack_1_right_group_1": {
388
- "cls": "HingeCabinet"
389
- },
390
- "stack_1_right_group_2": {
391
- "cls": "PanelCabinet"
392
- },
393
- "dishwasher_right_group": {
394
- "cls": "Dishwasher"
395
- },
396
- "stack_2_right_group_base": {
397
- "cls": "Box"
398
- },
399
- "stack_2_right_group_1": {
400
- "cls": "Drawer"
401
- },
402
- "stack_2_right_group_2": {
403
- "cls": "Drawer"
404
- },
405
- "stack_2_right_group_3": {
406
- "cls": "Drawer"
407
- },
408
- "stack_2_right_group_4": {
409
- "cls": "Drawer"
410
- },
411
- "cab_1_right_group": {
412
- "cls": "HingeCabinet"
413
- },
414
- "shelves_right_group": {
415
- "cls": "OpenCabinet"
416
- },
417
- "flower_vase_right_group": {
418
- "cls": "Accessory"
419
- },
420
- "soap_dispenser_right_group": {
421
- "cls": "Accessory"
422
- },
423
- "glass_cup_right_group": {
424
- "cls": "Accessory"
425
- },
426
- "glass_cup_2_right_group": {
427
- "cls": "Accessory"
428
- },
429
- "paprika_right_group": {
430
- "cls": "Accessory"
431
- },
432
- "cinnamon_right_group": {
433
- "cls": "Accessory"
434
- }
435
- },
436
- "gen_textures": {},
437
- "lang": "Pick the apple from the counter and place it in the cabinet.",
438
- "fixture_refs": {
439
- "cab": "cab_2_left_group",
440
- "counter": "counter_2_left_group"
441
- },
442
- "cam_configs": {
443
- "robot0_agentview_center": {
444
- "pos": [
445
- -0.6,
446
- 0.0,
447
- 1.15
448
- ],
449
- "quat": [
450
- 0.636945903301239,
451
- 0.3325185477733612,
452
- -0.3199238181114197,
453
- -0.6175596117973328
454
- ],
455
- "parent_body": "mobilebase0_support"
456
- },
457
- "robot0_agentview_left": {
458
- "pos": [
459
- -0.5,
460
- 0.35,
461
- 1.05
462
- ],
463
- "quat": [
464
- 0.55623853,
465
- 0.29935253,
466
- -0.37678665,
467
- -0.6775092
468
- ],
469
- "camera_attribs": {
470
- "fovy": "60"
471
- },
472
- "parent_body": "mobilebase0_support"
473
- },
474
- "robot0_agentview_right": {
475
- "pos": [
476
- -0.5,
477
- -0.35,
478
- 1.05
479
- ],
480
- "quat": [
481
- 0.6775091886520386,
482
- 0.3767866790294647,
483
- -0.2993525564670563,
484
- -0.55623859167099
485
- ],
486
- "camera_attribs": {
487
- "fovy": "60"
488
- },
489
- "parent_body": "mobilebase0_support"
490
- },
491
- "robot0_frontview": {
492
- "pos": [
493
- -0.5,
494
- 0,
495
- 0.95
496
- ],
497
- "quat": [
498
- 0.6088936924934387,
499
- 0.3814677894115448,
500
- -0.3673907518386841,
501
- -0.5905545353889465
502
- ],
503
- "camera_attribs": {
504
- "fovy": "60"
505
- },
506
- "parent_body": "mobilebase0_support"
507
- },
508
- "robot0_eye_in_hand": {
509
- "pos": [
510
- 0.05,
511
- 0,
512
- 0
513
- ],
514
- "quat": [
515
- 0,
516
- 0.707107,
517
- 0.707107,
518
- 0
519
- ],
520
- "parent_body": "robot0_right_hand"
521
- }
522
- },
523
- "init_robot_base_pos": [
524
- 0.8229939458306553,
525
- -2.1360861979235777,
526
- 0.0
527
- ],
528
- "init_robot_base_ori": [
529
- 0.0,
530
- 0.0,
531
- 3.1415963267948968
532
- ]
533
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000008/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:e3601f18eddc5007d30613a2409996b0d99632ee971a5657a9c7cec58628b935
3
- size 59409
 
 
 
 
extras/episode_000008/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:70f72d683743d86358d8ffd231cb9f78cda776902b0320359d2c82cbe51a4c4c
3
- size 225094
 
 
 
 
extras/episode_000009/ep_meta.json DELETED
@@ -1,474 +0,0 @@
1
- {
2
- "layout_id": 3,
3
- "style_id": 3,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_1_right_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_1_right_group",
14
- "min_size": [
15
- 0.05958639959999997,
16
- 0.06864549159999998,
17
- 0.06663833539999997
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "peach",
38
- "fruit",
39
- "food",
40
- "in_container"
41
- ],
42
- "groups": [
43
- "all"
44
- ],
45
- "cat": "peach",
46
- "split": "test",
47
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_4/model.xml"
48
- },
49
- "reset_region": {
50
- "size": [
51
- 0.4999999999999998,
52
- 0.65
53
- ],
54
- "offset": [
55
- 1.1102230246251565e-16,
56
- 0.0,
57
- 0.46
58
- ],
59
- "name": "geom_0"
60
- }
61
- },
62
- {
63
- "name": "distr_counter",
64
- "obj_groups": "all",
65
- "placement": {
66
- "fixture": "counter_1_right_group",
67
- "sample_region_kwargs": {
68
- "ref": "cab_1_right_group",
69
- "min_size": [
70
- 0.1072199758322536,
71
- 0.10755355385508333,
72
- 0.05013664000228508
73
- ]
74
- },
75
- "size": [
76
- 1.0,
77
- 0.3
78
- ],
79
- "pos": [
80
- "ref",
81
- -1.0
82
- ],
83
- "offset": [
84
- 0.0,
85
- 0.3
86
- ]
87
- },
88
- "type": "object",
89
- "info": {
90
- "groups_containing_sampled_obj": [
91
- "all",
92
- "donut",
93
- "sweets",
94
- "pastry",
95
- "food",
96
- "in_container"
97
- ],
98
- "groups": [
99
- "all"
100
- ],
101
- "cat": "donut",
102
- "split": "test",
103
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_8/model.xml"
104
- },
105
- "reset_region": {
106
- "size": [
107
- 0.4999999999999998,
108
- 0.65
109
- ],
110
- "offset": [
111
- 1.1102230246251565e-16,
112
- 0.0,
113
- 0.46
114
- ],
115
- "name": "geom_0"
116
- }
117
- },
118
- {
119
- "name": "distr_cab",
120
- "obj_groups": "all",
121
- "placement": {
122
- "fixture": "cab_1_right_group",
123
- "size": [
124
- 1.0,
125
- 0.2
126
- ],
127
- "pos": [
128
- null,
129
- 1.0
130
- ],
131
- "offset": [
132
- 0.0,
133
- 0.0
134
- ]
135
- },
136
- "type": "object",
137
- "info": {
138
- "groups_containing_sampled_obj": [
139
- "all",
140
- "chicken_drumstick",
141
- "meat",
142
- "food",
143
- "in_container",
144
- "oven_ready"
145
- ],
146
- "groups": [
147
- "all"
148
- ],
149
- "cat": "chicken_drumstick",
150
- "split": "test",
151
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
152
- },
153
- "reset_region": {
154
- "offset": [
155
- 0.0,
156
- 0.0,
157
- -0.43
158
- ],
159
- "size": [
160
- 0.44,
161
- 0.34
162
- ],
163
- "height": 0.2666666666666667,
164
- "name": "level0"
165
- }
166
- }
167
- ],
168
- "fixtures": {
169
- "wall_room": {
170
- "cls": "Wall"
171
- },
172
- "wall_backing_room": {
173
- "cls": "Wall"
174
- },
175
- "wall_right_room": {
176
- "cls": "Wall"
177
- },
178
- "wall_right_backing_room": {
179
- "cls": "Wall"
180
- },
181
- "floor_room": {
182
- "cls": "Floor"
183
- },
184
- "floor_backing_room": {
185
- "cls": "Floor"
186
- },
187
- "outlet_room": {
188
- "cls": "WallAccessory"
189
- },
190
- "light_switch_room": {
191
- "cls": "WallAccessory"
192
- },
193
- "light_switch_2_room": {
194
- "cls": "WallAccessory"
195
- },
196
- "utensil_rack_room": {
197
- "cls": "WallAccessory"
198
- },
199
- "outlet_2_room": {
200
- "cls": "WallAccessory"
201
- },
202
- "cab_1_main_group": {
203
- "cls": "HingeCabinet"
204
- },
205
- "cab_2_main_group": {
206
- "cls": "HingeCabinet"
207
- },
208
- "cab_main_main_group": {
209
- "cls": "HingeCabinet"
210
- },
211
- "cab_corner_main_group": {
212
- "cls": "Box"
213
- },
214
- "cab_corner_2_main_group": {
215
- "cls": "Box"
216
- },
217
- "sink_main_group": {
218
- "cls": "Sink"
219
- },
220
- "counter_main_main_group": {
221
- "cls": "Counter"
222
- },
223
- "counter_corner_main_main_group": {
224
- "cls": "Counter"
225
- },
226
- "stack_1_main_group_base": {
227
- "cls": "Box"
228
- },
229
- "stack_1_main_group_1": {
230
- "cls": "Drawer"
231
- },
232
- "stack_1_main_group_2": {
233
- "cls": "Drawer"
234
- },
235
- "stack_1_main_group_3": {
236
- "cls": "Drawer"
237
- },
238
- "stack_1_main_group_4": {
239
- "cls": "Drawer"
240
- },
241
- "stack_2_main_group_base": {
242
- "cls": "Box"
243
- },
244
- "stack_2_main_group_1": {
245
- "cls": "HingeCabinet"
246
- },
247
- "dishwasher_main_group": {
248
- "cls": "Dishwasher"
249
- },
250
- "stack_3_main_group_base": {
251
- "cls": "Box"
252
- },
253
- "stack_3_main_group_1": {
254
- "cls": "SingleCabinet"
255
- },
256
- "toaster_oven_main_group": {
257
- "cls": "ToasterOven"
258
- },
259
- "plant_main_group": {
260
- "cls": "Accessory"
261
- },
262
- "knife_block_main_group": {
263
- "cls": "Accessory"
264
- },
265
- "paper_towel_main_group": {
266
- "cls": "Accessory"
267
- },
268
- "soap_dispenser_main_group": {
269
- "cls": "Accessory"
270
- },
271
- "counter_1_right_group": {
272
- "cls": "Counter"
273
- },
274
- "counter_corner_left_right_group": {
275
- "cls": "Counter"
276
- },
277
- "stove_right_group": {
278
- "cls": "Stove"
279
- },
280
- "counter_2_right_group": {
281
- "cls": "Counter"
282
- },
283
- "fridge_right_group": {
284
- "cls": "FridgeBottomFreezer"
285
- },
286
- "fridge_housing_right_group": {
287
- "cls": "HousingCabinet"
288
- },
289
- "stack_1_right_group_base": {
290
- "cls": "Box"
291
- },
292
- "stack_1_right_group_1": {
293
- "cls": "SingleCabinet"
294
- },
295
- "stack_1_right_group_2": {
296
- "cls": "Drawer"
297
- },
298
- "stack_2_right_group_base": {
299
- "cls": "Box"
300
- },
301
- "stack_2_right_group_1": {
302
- "cls": "HingeCabinet"
303
- },
304
- "stack_2_right_group_2": {
305
- "cls": "Drawer"
306
- },
307
- "stack_2_right_group_3": {
308
- "cls": "Drawer"
309
- },
310
- "stack_3_right_group_base": {
311
- "cls": "Box"
312
- },
313
- "stack_3_right_group_1": {
314
- "cls": "Drawer"
315
- },
316
- "stack_3_right_group_2": {
317
- "cls": "Drawer"
318
- },
319
- "stack_3_right_group_3": {
320
- "cls": "Drawer"
321
- },
322
- "stack_3_right_group_4": {
323
- "cls": "Drawer"
324
- },
325
- "cab_1_right_group": {
326
- "cls": "SingleCabinet"
327
- },
328
- "microwave_right_group": {
329
- "cls": "Microwave"
330
- },
331
- "cab_micro_right_group": {
332
- "cls": "HingeCabinet"
333
- },
334
- "cab_2_right_group": {
335
- "cls": "SingleCabinet"
336
- },
337
- "shelves_right_group": {
338
- "cls": "OpenCabinet"
339
- },
340
- "cab_3_right_group": {
341
- "cls": "HingeCabinet"
342
- },
343
- "toaster_right_group": {
344
- "cls": "Toaster"
345
- },
346
- "coffee_machine_right_group": {
347
- "cls": "CoffeeMachine"
348
- },
349
- "oil_bottle_right_group": {
350
- "cls": "Accessory"
351
- },
352
- "tiered_basket_right_group": {
353
- "cls": "Accessory"
354
- },
355
- "jar_right_group": {
356
- "cls": "Accessory"
357
- },
358
- "salt_shaker_right_group": {
359
- "cls": "Accessory"
360
- },
361
- "paprika_right_group": {
362
- "cls": "Accessory"
363
- },
364
- "turmeric_right_group": {
365
- "cls": "Accessory"
366
- },
367
- "oil_bottle_right_group_auxiliary_right_group": {
368
- "cls": "Accessory"
369
- },
370
- "jar_right_group_auxiliary_right_group": {
371
- "cls": "Accessory"
372
- },
373
- "salt_shaker_right_group_auxiliary_right_group": {
374
- "cls": "Accessory"
375
- }
376
- },
377
- "gen_textures": {},
378
- "lang": "Pick the peach from the counter and place it in the cabinet.",
379
- "fixture_refs": {
380
- "cab": "cab_1_right_group",
381
- "counter": "counter_1_right_group"
382
- },
383
- "cam_configs": {
384
- "robot0_agentview_center": {
385
- "pos": [
386
- -0.6,
387
- 0.0,
388
- 1.15
389
- ],
390
- "quat": [
391
- 0.636945903301239,
392
- 0.3325185477733612,
393
- -0.3199238181114197,
394
- -0.6175596117973328
395
- ],
396
- "parent_body": "mobilebase0_support"
397
- },
398
- "robot0_agentview_left": {
399
- "pos": [
400
- -0.5,
401
- 0.35,
402
- 1.05
403
- ],
404
- "quat": [
405
- 0.55623853,
406
- 0.29935253,
407
- -0.37678665,
408
- -0.6775092
409
- ],
410
- "camera_attribs": {
411
- "fovy": "60"
412
- },
413
- "parent_body": "mobilebase0_support"
414
- },
415
- "robot0_agentview_right": {
416
- "pos": [
417
- -0.5,
418
- -0.35,
419
- 1.05
420
- ],
421
- "quat": [
422
- 0.6775091886520386,
423
- 0.3767866790294647,
424
- -0.2993525564670563,
425
- -0.55623859167099
426
- ],
427
- "camera_attribs": {
428
- "fovy": "60"
429
- },
430
- "parent_body": "mobilebase0_support"
431
- },
432
- "robot0_frontview": {
433
- "pos": [
434
- -0.5,
435
- 0,
436
- 0.95
437
- ],
438
- "quat": [
439
- 0.6088936924934387,
440
- 0.3814677894115448,
441
- -0.3673907518386841,
442
- -0.5905545353889465
443
- ],
444
- "camera_attribs": {
445
- "fovy": "60"
446
- },
447
- "parent_body": "mobilebase0_support"
448
- },
449
- "robot0_eye_in_hand": {
450
- "pos": [
451
- 0.05,
452
- 0,
453
- 0
454
- ],
455
- "quat": [
456
- 0,
457
- 0.707107,
458
- 0.707107,
459
- 0
460
- ],
461
- "parent_body": "robot0_right_hand"
462
- }
463
- },
464
- "init_robot_base_pos": [
465
- 4.384736342141994,
466
- -0.911386500806183,
467
- 0.0
468
- ],
469
- "init_robot_base_ori": [
470
- 0.0,
471
- 0.0,
472
- -3.673205103416066e-06
473
- ]
474
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000009/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:9d38fda8644c9dfdc4d7a656eb31be791ed304a8b6dd5cb6fadae135f238b7d2
3
- size 52555
 
 
 
 
extras/episode_000009/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:95acf346b0ff991adc3af86283594c9e8414bf1fb32309602630c560c572510f
3
- size 251025
 
 
 
 
extras/episode_000010/ep_meta.json DELETED
@@ -1,585 +0,0 @@
1
- {
2
- "layout_id": 9,
3
- "style_id": 9,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_1_left_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_2_left_group",
14
- "min_size": [
15
- 0.0557291526,
16
- 0.057331665600000005,
17
- 0.1648075539
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "bottled_water",
38
- "drink"
39
- ],
40
- "groups": [
41
- "all"
42
- ],
43
- "cat": "bottled_water",
44
- "split": "test",
45
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_2/model.xml"
46
- },
47
- "reset_region": {
48
- "size": [
49
- 0.5000000000000004,
50
- 0.65
51
- ],
52
- "offset": [
53
- 1.2499999999999998,
54
- -3.469446951953614e-17,
55
- 0.46
56
- ],
57
- "name": "geom_0"
58
- }
59
- },
60
- {
61
- "name": "distr_counter",
62
- "obj_groups": "all",
63
- "placement": {
64
- "fixture": "counter_1_left_group",
65
- "sample_region_kwargs": {
66
- "ref": "cab_2_left_group",
67
- "min_size": [
68
- 0.05674973213749076,
69
- 0.1333468311911499,
70
- 0.06224049057053102
71
- ]
72
- },
73
- "size": [
74
- 1.0,
75
- 0.3
76
- ],
77
- "pos": [
78
- "ref",
79
- -1.0
80
- ],
81
- "offset": [
82
- 0.0,
83
- 0.3
84
- ]
85
- },
86
- "type": "object",
87
- "info": {
88
- "groups_containing_sampled_obj": [
89
- "all",
90
- "pear",
91
- "fruit",
92
- "food",
93
- "in_container"
94
- ],
95
- "groups": [
96
- "all"
97
- ],
98
- "cat": "pear",
99
- "split": "test",
100
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_2/model.xml"
101
- },
102
- "reset_region": {
103
- "size": [
104
- 0.5000000000000004,
105
- 0.65
106
- ],
107
- "offset": [
108
- 1.2499999999999998,
109
- -3.469446951953614e-17,
110
- 0.46
111
- ],
112
- "name": "geom_0"
113
- }
114
- },
115
- {
116
- "name": "distr_cab",
117
- "obj_groups": "all",
118
- "placement": {
119
- "fixture": "cab_2_left_group",
120
- "size": [
121
- 1.0,
122
- 0.2
123
- ],
124
- "pos": [
125
- null,
126
- 1.0
127
- ],
128
- "offset": [
129
- 0.0,
130
- 0.0
131
- ]
132
- },
133
- "type": "object",
134
- "info": {
135
- "groups_containing_sampled_obj": [
136
- "all",
137
- "cucumber",
138
- "vegetable",
139
- "food",
140
- "in_container",
141
- "food_set1"
142
- ],
143
- "groups": [
144
- "all"
145
- ],
146
- "cat": "cucumber",
147
- "split": "test",
148
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
149
- },
150
- "reset_region": {
151
- "offset": [
152
- 0.0,
153
- 0.0,
154
- -0.43
155
- ],
156
- "size": [
157
- 0.44,
158
- 0.34
159
- ],
160
- "height": 0.2666666666666667,
161
- "name": "level0"
162
- }
163
- }
164
- ],
165
- "fixtures": {
166
- "wall_room": {
167
- "cls": "Wall"
168
- },
169
- "wall_backing_room": {
170
- "cls": "Wall"
171
- },
172
- "wall_left_room": {
173
- "cls": "Wall"
174
- },
175
- "wall_left_backing_room": {
176
- "cls": "Wall"
177
- },
178
- "wall_right_room": {
179
- "cls": "Wall"
180
- },
181
- "wall_right_backing_room": {
182
- "cls": "Wall"
183
- },
184
- "outlet_room": {
185
- "cls": "WallAccessory"
186
- },
187
- "utensil_rack_room": {
188
- "cls": "WallAccessory"
189
- },
190
- "light_switch_room": {
191
- "cls": "WallAccessory"
192
- },
193
- "light_switch_2_room": {
194
- "cls": "WallAccessory"
195
- },
196
- "outlet_2_room": {
197
- "cls": "WallAccessory"
198
- },
199
- "outlet_3_room": {
200
- "cls": "WallAccessory"
201
- },
202
- "window_group_room": {
203
- "cls": "Window"
204
- },
205
- "floor_room": {
206
- "cls": "Floor"
207
- },
208
- "floor_backing_room": {
209
- "cls": "Floor"
210
- },
211
- "stool_1_room": {
212
- "cls": "Stool"
213
- },
214
- "stool_2_room": {
215
- "cls": "Stool"
216
- },
217
- "stool_3_room": {
218
- "cls": "Stool"
219
- },
220
- "counter_corner_main_group": {
221
- "cls": "Counter"
222
- },
223
- "counter_main_main_group": {
224
- "cls": "Counter"
225
- },
226
- "stovetop_main_group": {
227
- "cls": "Stovetop"
228
- },
229
- "counter_1_main_group": {
230
- "cls": "Counter"
231
- },
232
- "counter_corner_2_main_group": {
233
- "cls": "Counter"
234
- },
235
- "cab_corner_main_group": {
236
- "cls": "Box"
237
- },
238
- "cab_corner_2_main_group": {
239
- "cls": "Box"
240
- },
241
- "cab_1_main_group": {
242
- "cls": "HingeCabinet"
243
- },
244
- "cab_main_main_group": {
245
- "cls": "HingeCabinet"
246
- },
247
- "cab_2_main_group": {
248
- "cls": "SingleCabinet"
249
- },
250
- "shelves_1_main_group": {
251
- "cls": "OpenCabinet"
252
- },
253
- "hood_main_group": {
254
- "cls": "Hood"
255
- },
256
- "shelves_2_main_group": {
257
- "cls": "OpenCabinet"
258
- },
259
- "stack_1_main_group_base": {
260
- "cls": "Box"
261
- },
262
- "stack_1_main_group_1": {
263
- "cls": "Drawer"
264
- },
265
- "stack_1_main_group_2": {
266
- "cls": "Drawer"
267
- },
268
- "stack_1_main_group_3": {
269
- "cls": "Drawer"
270
- },
271
- "stack_1_main_group_4": {
272
- "cls": "Drawer"
273
- },
274
- "stack_2_main_group_base": {
275
- "cls": "Box"
276
- },
277
- "stack_2_main_group_1": {
278
- "cls": "HingeCabinet"
279
- },
280
- "stack_2_main_group_2": {
281
- "cls": "Drawer"
282
- },
283
- "stack_2_main_group_3": {
284
- "cls": "Drawer"
285
- },
286
- "stack_3_main_group_base": {
287
- "cls": "Box"
288
- },
289
- "stack_3_main_group_1": {
290
- "cls": "HingeCabinet"
291
- },
292
- "stack_3_main_group_2": {
293
- "cls": "Drawer"
294
- },
295
- "stack_3_main_group_3": {
296
- "cls": "Drawer"
297
- },
298
- "stack_4_main_group_base": {
299
- "cls": "Box"
300
- },
301
- "stack_4_main_group_1": {
302
- "cls": "HingeCabinet"
303
- },
304
- "stack_5_main_group_base": {
305
- "cls": "Box"
306
- },
307
- "stack_5_main_group_1": {
308
- "cls": "SingleCabinet"
309
- },
310
- "stack_5_main_group_2": {
311
- "cls": "Drawer"
312
- },
313
- "coffee_machine_main_group": {
314
- "cls": "CoffeeMachine"
315
- },
316
- "paper_towel_main_group": {
317
- "cls": "Accessory"
318
- },
319
- "toaster_main_group": {
320
- "cls": "Toaster"
321
- },
322
- "toaster_oven_main_group": {
323
- "cls": "ToasterOven"
324
- },
325
- "utensil_set_main_group": {
326
- "cls": "Accessory"
327
- },
328
- "oil_bottle_main_group": {
329
- "cls": "Accessory"
330
- },
331
- "knife_block_main_group": {
332
- "cls": "Accessory"
333
- },
334
- "jar_main_group": {
335
- "cls": "Accessory"
336
- },
337
- "cinnamon_main_group": {
338
- "cls": "Accessory"
339
- },
340
- "turmeric_main_group": {
341
- "cls": "Accessory"
342
- },
343
- "paprika_main_group": {
344
- "cls": "Accessory"
345
- },
346
- "oil_bottle_main_group_auxiliary_main_group": {
347
- "cls": "Accessory"
348
- },
349
- "jar_main_group_auxiliary_main_group": {
350
- "cls": "Accessory"
351
- },
352
- "counter_1_front_group": {
353
- "cls": "Counter"
354
- },
355
- "counter_corner_front_group": {
356
- "cls": "Counter"
357
- },
358
- "salt_shaker_front_group": {
359
- "cls": "Accessory"
360
- },
361
- "salt_shaker_front_group_auxiliary_front_group": {
362
- "cls": "Accessory"
363
- },
364
- "counter_corner_left_group": {
365
- "cls": "Counter"
366
- },
367
- "sink_left_group": {
368
- "cls": "Sink"
369
- },
370
- "counter_1_left_group": {
371
- "cls": "Counter"
372
- },
373
- "counter_corner_right_left_group": {
374
- "cls": "Counter"
375
- },
376
- "stack_1_left_group_base": {
377
- "cls": "Box"
378
- },
379
- "stack_1_left_group_1": {
380
- "cls": "HingeCabinet"
381
- },
382
- "stack_1_left_group_2": {
383
- "cls": "Drawer"
384
- },
385
- "stack_1_left_group_3": {
386
- "cls": "Drawer"
387
- },
388
- "stack_2_left_group_base": {
389
- "cls": "Box"
390
- },
391
- "stack_2_left_group_1": {
392
- "cls": "HingeCabinet"
393
- },
394
- "dishwasher_left_group": {
395
- "cls": "Dishwasher"
396
- },
397
- "stack_3_left_group_base": {
398
- "cls": "Box"
399
- },
400
- "stack_3_left_group_1": {
401
- "cls": "SingleCabinet"
402
- },
403
- "cab_1_left_group": {
404
- "cls": "HingeCabinet"
405
- },
406
- "cab_2_left_group": {
407
- "cls": "SingleCabinet"
408
- },
409
- "plant_left_group": {
410
- "cls": "Accessory"
411
- },
412
- "soap_dispenser_left_group": {
413
- "cls": "Accessory"
414
- },
415
- "fruit_bowl_left_group": {
416
- "cls": "Accessory"
417
- },
418
- "stack_left_right_group_base": {
419
- "cls": "Box"
420
- },
421
- "stack_left_right_group_1": {
422
- "cls": "SingleCabinet"
423
- },
424
- "stack_left_right_group_2": {
425
- "cls": "SingleCabinet"
426
- },
427
- "fridge_right_group": {
428
- "cls": "FridgeSideBySide"
429
- },
430
- "fridge_housing_right_group": {
431
- "cls": "HousingCabinet"
432
- },
433
- "fridge_top_right_group": {
434
- "cls": "HingeCabinet"
435
- },
436
- "stack_right_right_group_base": {
437
- "cls": "Box"
438
- },
439
- "stack_right_right_group_1": {
440
- "cls": "SingleCabinet"
441
- },
442
- "stack_right_right_group_2": {
443
- "cls": "SingleCabinet"
444
- },
445
- "cab_top_corner_right_group": {
446
- "cls": "Box"
447
- },
448
- "bottom_corner_right_group": {
449
- "cls": "Box"
450
- },
451
- "bottom_right_group_base": {
452
- "cls": "Box"
453
- },
454
- "bottom_right_group_1": {
455
- "cls": "Drawer"
456
- },
457
- "bottom_right_group_2": {
458
- "cls": "Drawer"
459
- },
460
- "oven_right_group": {
461
- "cls": "Oven"
462
- },
463
- "oven_housing_right_group": {
464
- "cls": "HousingCabinet"
465
- },
466
- "microwave_right_group": {
467
- "cls": "Microwave"
468
- },
469
- "micro_housing_right_group": {
470
- "cls": "HousingCabinet"
471
- },
472
- "top_right_group": {
473
- "cls": "HingeCabinet"
474
- },
475
- "side_bottom_right_group_base": {
476
- "cls": "Box"
477
- },
478
- "side_bottom_right_group_1": {
479
- "cls": "Drawer"
480
- },
481
- "side_bottom_right_group_2": {
482
- "cls": "Drawer"
483
- },
484
- "side_bottom_right_group_3": {
485
- "cls": "HingeCabinet"
486
- }
487
- },
488
- "gen_textures": {},
489
- "lang": "Pick the bottled water from the counter and place it in the cabinet.",
490
- "fixture_refs": {
491
- "cab": "cab_2_left_group",
492
- "counter": "counter_1_left_group"
493
- },
494
- "cam_configs": {
495
- "robot0_agentview_center": {
496
- "pos": [
497
- -0.6,
498
- 0.0,
499
- 1.15
500
- ],
501
- "quat": [
502
- 0.636945903301239,
503
- 0.3325185477733612,
504
- -0.3199238181114197,
505
- -0.6175596117973328
506
- ],
507
- "parent_body": "mobilebase0_support"
508
- },
509
- "robot0_agentview_left": {
510
- "pos": [
511
- -0.5,
512
- 0.35,
513
- 1.05
514
- ],
515
- "quat": [
516
- 0.55623853,
517
- 0.29935253,
518
- -0.37678665,
519
- -0.6775092
520
- ],
521
- "camera_attribs": {
522
- "fovy": "60"
523
- },
524
- "parent_body": "mobilebase0_support"
525
- },
526
- "robot0_agentview_right": {
527
- "pos": [
528
- -0.5,
529
- -0.35,
530
- 1.05
531
- ],
532
- "quat": [
533
- 0.6775091886520386,
534
- 0.3767866790294647,
535
- -0.2993525564670563,
536
- -0.55623859167099
537
- ],
538
- "camera_attribs": {
539
- "fovy": "60"
540
- },
541
- "parent_body": "mobilebase0_support"
542
- },
543
- "robot0_frontview": {
544
- "pos": [
545
- -0.5,
546
- 0,
547
- 0.95
548
- ],
549
- "quat": [
550
- 0.6088936924934387,
551
- 0.3814677894115448,
552
- -0.3673907518386841,
553
- -0.5905545353889465
554
- ],
555
- "camera_attribs": {
556
- "fovy": "60"
557
- },
558
- "parent_body": "mobilebase0_support"
559
- },
560
- "robot0_eye_in_hand": {
561
- "pos": [
562
- 0.05,
563
- 0,
564
- 0
565
- ],
566
- "quat": [
567
- 0,
568
- 0.707107,
569
- 0.707107,
570
- 0
571
- ],
572
- "parent_body": "robot0_right_hand"
573
- }
574
- },
575
- "init_robot_base_pos": [
576
- 0.7703749169220664,
577
- -0.9954105630925584,
578
- 0.0
579
- ],
580
- "init_robot_base_ori": [
581
- 0.0,
582
- 0.0,
583
- 3.1415963267948968
584
- ]
585
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000010/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:59d4b92bb5809aeb03c88c1c56f72a3982f8addb1529fde25710b4725664ebb4
3
- size 76351
 
 
 
 
extras/episode_000010/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:7ea00059ee540739f19befb1054d0f0f58460fa72680ee8ce40b9ed857412f7f
3
- size 248957
 
 
 
 
extras/episode_000011/ep_meta.json DELETED
@@ -1,499 +0,0 @@
1
- {
2
- "layout_id": 4,
3
- "style_id": 4,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_1_right_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "shelves_main_group",
14
- "min_size": [
15
- 0.09359006210083821,
16
- 0.08725418367999996,
17
- 0.0745727833046697
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "broccoli",
38
- "vegetable",
39
- "food",
40
- "in_container",
41
- "oven_ready"
42
- ],
43
- "groups": [
44
- "all"
45
- ],
46
- "cat": "broccoli",
47
- "split": "test",
48
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
49
- },
50
- "reset_region": {
51
- "size": [
52
- 1.0,
53
- 0.65
54
- ],
55
- "offset": [
56
- 0.5,
57
- -3.469446951953614e-17,
58
- 0.46
59
- ],
60
- "name": "geom_0"
61
- }
62
- },
63
- {
64
- "name": "distr_counter",
65
- "obj_groups": "all",
66
- "placement": {
67
- "fixture": "counter_1_right_main_group",
68
- "sample_region_kwargs": {
69
- "ref": "shelves_main_group",
70
- "min_size": [
71
- 0.09960182399999999,
72
- 0.09988224,
73
- 0.194016936
74
- ]
75
- },
76
- "size": [
77
- 1.0,
78
- 0.3
79
- ],
80
- "pos": [
81
- "ref",
82
- -1.0
83
- ],
84
- "offset": [
85
- 0.0,
86
- 0.3
87
- ]
88
- },
89
- "type": "object",
90
- "info": {
91
- "groups_containing_sampled_obj": [
92
- "all",
93
- "paprika",
94
- "spice"
95
- ],
96
- "groups": [
97
- "all"
98
- ],
99
- "cat": "paprika",
100
- "split": "test",
101
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika008/model.xml"
102
- },
103
- "reset_region": {
104
- "size": [
105
- 1.0,
106
- 0.65
107
- ],
108
- "offset": [
109
- 0.5,
110
- -3.469446951953614e-17,
111
- 0.46
112
- ],
113
- "name": "geom_0"
114
- }
115
- },
116
- {
117
- "name": "distr_cab",
118
- "obj_groups": "all",
119
- "placement": {
120
- "fixture": "shelves_main_group",
121
- "size": [
122
- 1.0,
123
- 0.2
124
- ],
125
- "pos": [
126
- null,
127
- 1.0
128
- ],
129
- "offset": [
130
- 0.0,
131
- 0.0
132
- ]
133
- },
134
- "type": "object",
135
- "info": {
136
- "groups_containing_sampled_obj": [
137
- "all",
138
- "pitcher",
139
- "receptacle"
140
- ],
141
- "groups": [
142
- "all"
143
- ],
144
- "cat": "pitcher",
145
- "split": "test",
146
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher009/model.xml"
147
- },
148
- "reset_region": {
149
- "offset": [
150
- 0.0,
151
- 0.0,
152
- -0.43000000000000005
153
- ],
154
- "size": [
155
- 1.0,
156
- 0.4
157
- ],
158
- "height": 0.41500000000000004,
159
- "name": "level0"
160
- }
161
- }
162
- ],
163
- "fixtures": {
164
- "wall_room": {
165
- "cls": "Wall"
166
- },
167
- "wall_backing_room": {
168
- "cls": "Wall"
169
- },
170
- "wall_left_room": {
171
- "cls": "Wall"
172
- },
173
- "wall_left_backing_room": {
174
- "cls": "Wall"
175
- },
176
- "outlet_room": {
177
- "cls": "WallAccessory"
178
- },
179
- "outlet_2_room": {
180
- "cls": "WallAccessory"
181
- },
182
- "light_switch_room": {
183
- "cls": "WallAccessory"
184
- },
185
- "light_switch_2_room": {
186
- "cls": "WallAccessory"
187
- },
188
- "window_group_room": {
189
- "cls": "Window"
190
- },
191
- "floor_room": {
192
- "cls": "Floor"
193
- },
194
- "floor_backing_room": {
195
- "cls": "Floor"
196
- },
197
- "stool_1_room": {
198
- "cls": "Stool"
199
- },
200
- "stool_2_room": {
201
- "cls": "Stool"
202
- },
203
- "stool_3_room": {
204
- "cls": "Stool"
205
- },
206
- "counter_corner_main_main_group": {
207
- "cls": "Counter"
208
- },
209
- "counter_main_main_group": {
210
- "cls": "Counter"
211
- },
212
- "stovetop_main_group": {
213
- "cls": "Stovetop"
214
- },
215
- "counter_1_right_main_group": {
216
- "cls": "Counter"
217
- },
218
- "fridge_main_group": {
219
- "cls": "FridgeFrenchDoor"
220
- },
221
- "fridge_housing_main_group": {
222
- "cls": "HousingCabinet"
223
- },
224
- "stack_1_main_group_base": {
225
- "cls": "Box"
226
- },
227
- "stack_1_main_group_1": {
228
- "cls": "Drawer"
229
- },
230
- "stack_1_main_group_2": {
231
- "cls": "Drawer"
232
- },
233
- "stack_1_main_group_3": {
234
- "cls": "Drawer"
235
- },
236
- "stack_1_main_group_4": {
237
- "cls": "Drawer"
238
- },
239
- "stack_2_main_group_base": {
240
- "cls": "Box"
241
- },
242
- "stack_2_main_group_1": {
243
- "cls": "HingeCabinet"
244
- },
245
- "stack_2_main_group_2": {
246
- "cls": "PanelCabinet"
247
- },
248
- "stack_3_main_group_base": {
249
- "cls": "Box"
250
- },
251
- "stack_3_main_group_1": {
252
- "cls": "HingeCabinet"
253
- },
254
- "stack_3_main_group_2": {
255
- "cls": "Drawer"
256
- },
257
- "stack_3_main_group_3": {
258
- "cls": "Drawer"
259
- },
260
- "hood_main_group": {
261
- "cls": "Hood"
262
- },
263
- "cab_main_main_group": {
264
- "cls": "HingeCabinet"
265
- },
266
- "shelves_main_group": {
267
- "cls": "OpenCabinet"
268
- },
269
- "fridge_cab_main_group": {
270
- "cls": "HingeCabinet"
271
- },
272
- "paper_towel_main_group": {
273
- "cls": "Accessory"
274
- },
275
- "knife_block_main_group": {
276
- "cls": "Accessory"
277
- },
278
- "toaster_main_group": {
279
- "cls": "Toaster"
280
- },
281
- "utensil_set_main_group": {
282
- "cls": "Accessory"
283
- },
284
- "toaster_oven_main_group": {
285
- "cls": "ToasterOven"
286
- },
287
- "jar_main_group": {
288
- "cls": "Accessory"
289
- },
290
- "jar_2_main_group": {
291
- "cls": "Accessory"
292
- },
293
- "glass_cup_main_group": {
294
- "cls": "Accessory"
295
- },
296
- "glass_cup_2_main_group": {
297
- "cls": "Accessory"
298
- },
299
- "jar_main_group_auxiliary_main_group": {
300
- "cls": "Accessory"
301
- },
302
- "jar_2_main_group_auxiliary_main_group": {
303
- "cls": "Accessory"
304
- },
305
- "cab_1_left_group": {
306
- "cls": "SingleCabinet"
307
- },
308
- "cab_2_left_group": {
309
- "cls": "SingleCabinet"
310
- },
311
- "cab_corner_3_left_group": {
312
- "cls": "Box"
313
- },
314
- "cab_corner_4_left_group": {
315
- "cls": "Box"
316
- },
317
- "sink_left_group": {
318
- "cls": "Sink"
319
- },
320
- "counter_1_left_left_group": {
321
- "cls": "Counter"
322
- },
323
- "counter_corner_left_group": {
324
- "cls": "Counter"
325
- },
326
- "bottom_left_group_base": {
327
- "cls": "Box"
328
- },
329
- "bottom_left_group_1": {
330
- "cls": "Drawer"
331
- },
332
- "bottom_left_group_2": {
333
- "cls": "Drawer"
334
- },
335
- "oven_left_group": {
336
- "cls": "Oven"
337
- },
338
- "oven_housing_left_group": {
339
- "cls": "HousingCabinet"
340
- },
341
- "microwave_left_group": {
342
- "cls": "Microwave"
343
- },
344
- "micro_housing_left_group": {
345
- "cls": "HousingCabinet"
346
- },
347
- "top_left_group": {
348
- "cls": "HingeCabinet"
349
- },
350
- "stack_1_left_group": {
351
- "cls": "SingleCabinet"
352
- },
353
- "dishwasher_left_group": {
354
- "cls": "Dishwasher"
355
- },
356
- "stack_2_left_group_base": {
357
- "cls": "Box"
358
- },
359
- "stack_2_left_group_1": {
360
- "cls": "HingeCabinet"
361
- },
362
- "stack_2_left_group_2": {
363
- "cls": "PanelCabinet"
364
- },
365
- "stack_3_left_group_base": {
366
- "cls": "Box"
367
- },
368
- "stack_3_left_group_1": {
369
- "cls": "HingeCabinet"
370
- },
371
- "stack_3_left_group_2": {
372
- "cls": "Drawer"
373
- },
374
- "stack_3_left_group_3": {
375
- "cls": "Drawer"
376
- },
377
- "coffee_machine_left_group": {
378
- "cls": "CoffeeMachine"
379
- },
380
- "soap_dispenser_left_group": {
381
- "cls": "Accessory"
382
- },
383
- "tiered_basket_left_group": {
384
- "cls": "Accessory"
385
- },
386
- "island_island_group": {
387
- "cls": "Counter"
388
- },
389
- "plant_island_group": {
390
- "cls": "Accessory"
391
- },
392
- "fruit_bowl_island_group": {
393
- "cls": "Accessory"
394
- },
395
- "salt_shaker_island_group": {
396
- "cls": "Accessory"
397
- },
398
- "salt_shaker_island_group_auxiliary_island_group": {
399
- "cls": "Accessory"
400
- }
401
- },
402
- "gen_textures": {},
403
- "lang": "Pick the broccoli from the counter and place it in the cabinet.",
404
- "fixture_refs": {
405
- "cab": "shelves_main_group",
406
- "counter": "counter_1_right_main_group"
407
- },
408
- "cam_configs": {
409
- "robot0_agentview_center": {
410
- "pos": [
411
- -0.6,
412
- 0.0,
413
- 1.15
414
- ],
415
- "quat": [
416
- 0.636945903301239,
417
- 0.3325185477733612,
418
- -0.3199238181114197,
419
- -0.6175596117973328
420
- ],
421
- "parent_body": "mobilebase0_support"
422
- },
423
- "robot0_agentview_left": {
424
- "pos": [
425
- -0.5,
426
- 0.35,
427
- 1.05
428
- ],
429
- "quat": [
430
- 0.55623853,
431
- 0.29935253,
432
- -0.37678665,
433
- -0.6775092
434
- ],
435
- "camera_attribs": {
436
- "fovy": "60"
437
- },
438
- "parent_body": "mobilebase0_support"
439
- },
440
- "robot0_agentview_right": {
441
- "pos": [
442
- -0.5,
443
- -0.35,
444
- 1.05
445
- ],
446
- "quat": [
447
- 0.6775091886520386,
448
- 0.3767866790294647,
449
- -0.2993525564670563,
450
- -0.55623859167099
451
- ],
452
- "camera_attribs": {
453
- "fovy": "60"
454
- },
455
- "parent_body": "mobilebase0_support"
456
- },
457
- "robot0_frontview": {
458
- "pos": [
459
- -0.5,
460
- 0,
461
- 0.95
462
- ],
463
- "quat": [
464
- 0.6088936924934387,
465
- 0.3814677894115448,
466
- -0.3673907518386841,
467
- -0.5905545353889465
468
- ],
469
- "camera_attribs": {
470
- "fovy": "60"
471
- },
472
- "parent_body": "mobilebase0_support"
473
- },
474
- "robot0_eye_in_hand": {
475
- "pos": [
476
- 0.05,
477
- 0,
478
- 0
479
- ],
480
- "quat": [
481
- 0,
482
- 0.707107,
483
- 0.707107,
484
- 0
485
- ],
486
- "parent_body": "robot0_right_hand"
487
- }
488
- },
489
- "init_robot_base_pos": [
490
- 3.172380359130987,
491
- -0.7761948958247397,
492
- 0.0
493
- ],
494
- "init_robot_base_ori": [
495
- 0.0,
496
- 0.0,
497
- 1.5707963267948966
498
- ]
499
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000011/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:2a34b859be9de459600315e4cd3586588407e7e622e3ccd5682d8c267fd2ccb9
3
- size 66542
 
 
 
 
extras/episode_000011/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:76066a2fc9d338fe6876b993c68c23b767a035d85364a697f3ce856a27cfdc02
3
- size 228110
 
 
 
 
extras/episode_000012/ep_meta.json DELETED
@@ -1,405 +0,0 @@
1
- {
2
- "layout_id": 1,
3
- "style_id": 1,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_main_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_1_main_group",
14
- "min_size": [
15
- 0.044141895,
16
- 0.044141895,
17
- 0.1013507985
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "salt_and_pepper_shaker",
38
- "spice"
39
- ],
40
- "groups": [
41
- "all"
42
- ],
43
- "cat": "salt_and_pepper_shaker",
44
- "split": "test",
45
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/SaltShaker012/model.xml"
46
- },
47
- "reset_region": {
48
- "size": [
49
- 0.5,
50
- 0.65
51
- ],
52
- "offset": [
53
- -1.0,
54
- -3.469446951953614e-17,
55
- 0.46
56
- ],
57
- "name": "geom_0"
58
- }
59
- },
60
- {
61
- "name": "distr_counter",
62
- "obj_groups": "all",
63
- "placement": {
64
- "fixture": "counter_main_main_group",
65
- "sample_region_kwargs": {
66
- "ref": "cab_1_main_group",
67
- "min_size": [
68
- 0.0914342,
69
- 0.0881268,
70
- 0.00805444
71
- ]
72
- },
73
- "size": [
74
- 1.0,
75
- 0.3
76
- ],
77
- "pos": [
78
- "ref",
79
- -1.0
80
- ],
81
- "offset": [
82
- 0.0,
83
- 0.3
84
- ]
85
- },
86
- "type": "object",
87
- "info": {
88
- "groups_containing_sampled_obj": [
89
- "all",
90
- "tomato_slice"
91
- ],
92
- "groups": [
93
- "all"
94
- ],
95
- "cat": "tomato_slice",
96
- "split": "test",
97
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tomato_slice/TomatoSlice011/model.xml"
98
- },
99
- "reset_region": {
100
- "size": [
101
- 0.5,
102
- 0.65
103
- ],
104
- "offset": [
105
- -1.0,
106
- -3.469446951953614e-17,
107
- 0.46
108
- ],
109
- "name": "geom_0"
110
- }
111
- },
112
- {
113
- "name": "distr_cab",
114
- "obj_groups": "all",
115
- "placement": {
116
- "fixture": "cab_1_main_group",
117
- "size": [
118
- 1.0,
119
- 0.2
120
- ],
121
- "pos": [
122
- null,
123
- 1.0
124
- ],
125
- "offset": [
126
- 0.0,
127
- 0.0
128
- ]
129
- },
130
- "type": "object",
131
- "info": {
132
- "groups_containing_sampled_obj": [
133
- "all",
134
- "canned_food",
135
- "packaged_food"
136
- ],
137
- "groups": [
138
- "all"
139
- ],
140
- "cat": "canned_food",
141
- "split": "test",
142
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_4/model.xml"
143
- },
144
- "reset_region": {
145
- "offset": [
146
- 0.0,
147
- 0.0,
148
- -0.43
149
- ],
150
- "size": [
151
- 0.44,
152
- 0.34
153
- ],
154
- "height": 0.2666666666666667,
155
- "name": "level0"
156
- }
157
- }
158
- ],
159
- "fixtures": {
160
- "wall_room": {
161
- "cls": "Wall"
162
- },
163
- "wall_backing_room": {
164
- "cls": "Wall"
165
- },
166
- "wall_left_room": {
167
- "cls": "Wall"
168
- },
169
- "wall_left_backing_room": {
170
- "cls": "Wall"
171
- },
172
- "wall_right_room": {
173
- "cls": "Wall"
174
- },
175
- "wall_right_backing_room": {
176
- "cls": "Wall"
177
- },
178
- "floor_room": {
179
- "cls": "Floor"
180
- },
181
- "floor_backing_room": {
182
- "cls": "Floor"
183
- },
184
- "outlet_room": {
185
- "cls": "WallAccessory"
186
- },
187
- "outlet_2_room": {
188
- "cls": "WallAccessory"
189
- },
190
- "light_switch_room": {
191
- "cls": "WallAccessory"
192
- },
193
- "light_switch_2_room": {
194
- "cls": "WallAccessory"
195
- },
196
- "sink_main_group": {
197
- "cls": "Sink"
198
- },
199
- "counter_main_main_group": {
200
- "cls": "Counter"
201
- },
202
- "stove_main_group": {
203
- "cls": "Stove"
204
- },
205
- "counter_right_main_group": {
206
- "cls": "Counter"
207
- },
208
- "fridge_main_group": {
209
- "cls": "FridgeBottomFreezer"
210
- },
211
- "cab_1_main_group": {
212
- "cls": "SingleCabinet"
213
- },
214
- "cab_2_main_group": {
215
- "cls": "HingeCabinet"
216
- },
217
- "cab_main_main_group": {
218
- "cls": "HingeCabinet"
219
- },
220
- "microwave_main_group": {
221
- "cls": "Microwave"
222
- },
223
- "cab_micro_main_group": {
224
- "cls": "HingeCabinet"
225
- },
226
- "cab_3_main_group": {
227
- "cls": "OpenCabinet"
228
- },
229
- "cab_4_main_group": {
230
- "cls": "HingeCabinet"
231
- },
232
- "stack_1_main_group_base": {
233
- "cls": "Box"
234
- },
235
- "stack_1_main_group_1": {
236
- "cls": "Drawer"
237
- },
238
- "stack_1_main_group_2": {
239
- "cls": "Drawer"
240
- },
241
- "stack_1_main_group_3": {
242
- "cls": "Drawer"
243
- },
244
- "stack_1_main_group_4": {
245
- "cls": "Drawer"
246
- },
247
- "stack_2_main_group_base": {
248
- "cls": "Box"
249
- },
250
- "stack_2_main_group_1": {
251
- "cls": "HingeCabinet"
252
- },
253
- "stack_2_main_group_2": {
254
- "cls": "PanelCabinet"
255
- },
256
- "dishwasher_main_group": {
257
- "cls": "Dishwasher"
258
- },
259
- "stack_3_main_group_base": {
260
- "cls": "Box"
261
- },
262
- "stack_3_main_group_1": {
263
- "cls": "SingleCabinet"
264
- },
265
- "stack_4_main_group_base": {
266
- "cls": "Box"
267
- },
268
- "stack_4_main_group_1": {
269
- "cls": "SingleCabinet"
270
- },
271
- "stack_4_main_group_2": {
272
- "cls": "Drawer"
273
- },
274
- "oil_bottle_main_group": {
275
- "cls": "Accessory"
276
- },
277
- "soap_dispenser_main_group": {
278
- "cls": "Accessory"
279
- },
280
- "toaster_main_group": {
281
- "cls": "Toaster"
282
- },
283
- "knife_block_main_group": {
284
- "cls": "Accessory"
285
- },
286
- "digital_scale_main_group": {
287
- "cls": "Accessory"
288
- },
289
- "paper_towel_main_group": {
290
- "cls": "Accessory"
291
- },
292
- "coffee_machine_main_group": {
293
- "cls": "CoffeeMachine"
294
- },
295
- "glass_cup_main_group": {
296
- "cls": "Accessory"
297
- },
298
- "glass_cup_2_main_group": {
299
- "cls": "Accessory"
300
- },
301
- "glass_cup_3_main_group": {
302
- "cls": "Accessory"
303
- },
304
- "oil_bottle_main_group_auxiliary_main_group": {
305
- "cls": "Accessory"
306
- }
307
- },
308
- "gen_textures": {},
309
- "lang": "Pick the salt and pepper shaker from the counter and place it in the cabinet.",
310
- "fixture_refs": {
311
- "cab": "cab_1_main_group",
312
- "counter": "counter_main_main_group"
313
- },
314
- "cam_configs": {
315
- "robot0_agentview_center": {
316
- "pos": [
317
- -0.6,
318
- 0.0,
319
- 1.15
320
- ],
321
- "quat": [
322
- 0.636945903301239,
323
- 0.3325185477733612,
324
- -0.3199238181114197,
325
- -0.6175596117973328
326
- ],
327
- "parent_body": "mobilebase0_support"
328
- },
329
- "robot0_agentview_left": {
330
- "pos": [
331
- -0.5,
332
- 0.35,
333
- 1.05
334
- ],
335
- "quat": [
336
- 0.55623853,
337
- 0.29935253,
338
- -0.37678665,
339
- -0.6775092
340
- ],
341
- "camera_attribs": {
342
- "fovy": "60"
343
- },
344
- "parent_body": "mobilebase0_support"
345
- },
346
- "robot0_agentview_right": {
347
- "pos": [
348
- -0.5,
349
- -0.35,
350
- 1.05
351
- ],
352
- "quat": [
353
- 0.6775091886520386,
354
- 0.3767866790294647,
355
- -0.2993525564670563,
356
- -0.55623859167099
357
- ],
358
- "camera_attribs": {
359
- "fovy": "60"
360
- },
361
- "parent_body": "mobilebase0_support"
362
- },
363
- "robot0_frontview": {
364
- "pos": [
365
- -0.5,
366
- 0,
367
- 0.95
368
- ],
369
- "quat": [
370
- 0.6088936924934387,
371
- 0.3814677894115448,
372
- -0.3673907518386841,
373
- -0.5905545353889465
374
- ],
375
- "camera_attribs": {
376
- "fovy": "60"
377
- },
378
- "parent_body": "mobilebase0_support"
379
- },
380
- "robot0_eye_in_hand": {
381
- "pos": [
382
- 0.05,
383
- 0,
384
- 0
385
- ],
386
- "quat": [
387
- 0,
388
- 0.707107,
389
- 0.707107,
390
- 0
391
- ],
392
- "parent_body": "robot0_right_hand"
393
- }
394
- },
395
- "init_robot_base_pos": [
396
- 0.5706495771010163,
397
- -0.8447907497876452,
398
- 0.0
399
- ],
400
- "init_robot_base_ori": [
401
- 0.0,
402
- 0.0,
403
- 1.5707963267948966
404
- ]
405
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000012/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:57a2cd6d31ec2c5539ae9d9bf4f3b994444d7d5fa3bae8ce3023d31fe904c49a
3
- size 41065
 
 
 
 
extras/episode_000012/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:e0420c8db0431bae97a3d840f9f3f37baace9f256fc7cde3fb3b1b48796dd541
3
- size 223650
 
 
 
 
extras/episode_000013/ep_meta.json DELETED
@@ -1,516 +0,0 @@
1
- {
2
- "layout_id": 2,
3
- "style_id": 2,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_main_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "shelves_main_group",
14
- "min_size": [
15
- 0.05963159937074307,
16
- 0.15072939877672034,
17
- 0.035704320996846096
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "banana",
38
- "fruit",
39
- "food",
40
- "in_container",
41
- "food_set1",
42
- "group1"
43
- ],
44
- "groups": [
45
- "all"
46
- ],
47
- "cat": "banana",
48
- "split": "test",
49
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_9/model.xml"
50
- },
51
- "reset_region": {
52
- "size": [
53
- 0.8349216362207781,
54
- 0.65
55
- ],
56
- "offset": [
57
- 0.5,
58
- -3.469446951953614e-17,
59
- 0.46
60
- ],
61
- "name": "geom_0"
62
- }
63
- },
64
- {
65
- "name": "distr_counter",
66
- "obj_groups": "all",
67
- "placement": {
68
- "fixture": "counter_main_main_group",
69
- "sample_region_kwargs": {
70
- "ref": "shelves_main_group",
71
- "min_size": [
72
- 0.05956470240000002,
73
- 0.05986484640000002,
74
- 0.07946506480000003
75
- ]
76
- },
77
- "size": [
78
- 1.0,
79
- 0.3
80
- ],
81
- "pos": [
82
- "ref",
83
- -1.0
84
- ],
85
- "offset": [
86
- 0.0,
87
- 0.3
88
- ]
89
- },
90
- "type": "object",
91
- "info": {
92
- "groups_containing_sampled_obj": [
93
- "all",
94
- "tomato",
95
- "vegetable",
96
- "food",
97
- "in_container"
98
- ],
99
- "groups": [
100
- "all"
101
- ],
102
- "cat": "tomato",
103
- "split": "test",
104
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml"
105
- },
106
- "reset_region": {
107
- "size": [
108
- 0.8349216362207781,
109
- 0.65
110
- ],
111
- "offset": [
112
- 0.5,
113
- -3.469446951953614e-17,
114
- 0.46
115
- ],
116
- "name": "geom_0"
117
- }
118
- },
119
- {
120
- "name": "distr_cab",
121
- "obj_groups": "all",
122
- "placement": {
123
- "fixture": "shelves_main_group",
124
- "size": [
125
- 1.0,
126
- 0.2
127
- ],
128
- "pos": [
129
- null,
130
- 1.0
131
- ],
132
- "offset": [
133
- 0.0,
134
- 0.0
135
- ]
136
- },
137
- "type": "object",
138
- "info": {
139
- "groups_containing_sampled_obj": [
140
- "all",
141
- "bread",
142
- "bread_food",
143
- "food",
144
- "in_container"
145
- ],
146
- "groups": [
147
- "all"
148
- ],
149
- "cat": "bread",
150
- "split": "test",
151
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_8/model.xml"
152
- },
153
- "reset_region": {
154
- "offset": [
155
- 0.0,
156
- 0.0,
157
- -0.43000000000000005
158
- ],
159
- "size": [
160
- 0.8,
161
- 0.4
162
- ],
163
- "height": 0.41500000000000004,
164
- "name": "level0"
165
- }
166
- }
167
- ],
168
- "fixtures": {
169
- "wall_room": {
170
- "cls": "Wall"
171
- },
172
- "wall_backing_room": {
173
- "cls": "Wall"
174
- },
175
- "wall_left_room": {
176
- "cls": "Wall"
177
- },
178
- "wall_left_backing_room": {
179
- "cls": "Wall"
180
- },
181
- "wall_right_room": {
182
- "cls": "Wall"
183
- },
184
- "wall_right_backing_room": {
185
- "cls": "Wall"
186
- },
187
- "floor_room": {
188
- "cls": "Floor"
189
- },
190
- "floor_backing_room": {
191
- "cls": "Floor"
192
- },
193
- "outlet_room": {
194
- "cls": "WallAccessory"
195
- },
196
- "outlet_2_room": {
197
- "cls": "WallAccessory"
198
- },
199
- "light_switch_room": {
200
- "cls": "WallAccessory"
201
- },
202
- "light_switch_2_room": {
203
- "cls": "WallAccessory"
204
- },
205
- "utensil_rack_room": {
206
- "cls": "WallAccessory"
207
- },
208
- "stool_1_room": {
209
- "cls": "Stool"
210
- },
211
- "stool_2_room": {
212
- "cls": "Stool"
213
- },
214
- "stool_3_room": {
215
- "cls": "Stool"
216
- },
217
- "stovetop_main_group": {
218
- "cls": "Stovetop"
219
- },
220
- "counter_main_main_group": {
221
- "cls": "Counter"
222
- },
223
- "bottom_main_group_base": {
224
- "cls": "Box"
225
- },
226
- "bottom_main_group_1": {
227
- "cls": "Drawer"
228
- },
229
- "bottom_main_group_2": {
230
- "cls": "Drawer"
231
- },
232
- "oven_main_group": {
233
- "cls": "Oven"
234
- },
235
- "oven_housing_main_group": {
236
- "cls": "HousingCabinet"
237
- },
238
- "microwave_main_group": {
239
- "cls": "Microwave"
240
- },
241
- "micro_housing_main_group": {
242
- "cls": "HousingCabinet"
243
- },
244
- "top_main_group": {
245
- "cls": "HingeCabinet"
246
- },
247
- "fridge_main_group": {
248
- "cls": "FridgeSideBySide"
249
- },
250
- "fridge_housing_main_group": {
251
- "cls": "HousingCabinet"
252
- },
253
- "fridge_top_main_group": {
254
- "cls": "HingeCabinet"
255
- },
256
- "cab_main_main_group": {
257
- "cls": "HingeCabinet"
258
- },
259
- "hood_main_group": {
260
- "cls": "Hood"
261
- },
262
- "shelves_main_group": {
263
- "cls": "OpenCabinet"
264
- },
265
- "cab_2_main_group": {
266
- "cls": "HingeCabinet"
267
- },
268
- "stack_3_main_group_base": {
269
- "cls": "Box"
270
- },
271
- "stack_3_main_group_1": {
272
- "cls": "HingeCabinet"
273
- },
274
- "stack_3_main_group_2": {
275
- "cls": "Drawer"
276
- },
277
- "stack_3_main_group_3": {
278
- "cls": "Drawer"
279
- },
280
- "stack_4_main_group_base": {
281
- "cls": "Box"
282
- },
283
- "stack_4_main_group_1": {
284
- "cls": "HingeCabinet"
285
- },
286
- "stack_4_main_group_2": {
287
- "cls": "Drawer"
288
- },
289
- "stack_4_main_group_3": {
290
- "cls": "Drawer"
291
- },
292
- "stack_5_main_group_base": {
293
- "cls": "Box"
294
- },
295
- "stack_5_main_group_1": {
296
- "cls": "HingeCabinet"
297
- },
298
- "stack_5_main_group_2": {
299
- "cls": "Drawer"
300
- },
301
- "stack_5_main_group_3": {
302
- "cls": "Drawer"
303
- },
304
- "stack_6_main_group_base": {
305
- "cls": "Box"
306
- },
307
- "stack_6_main_group_1": {
308
- "cls": "Drawer"
309
- },
310
- "stack_6_main_group_2": {
311
- "cls": "Drawer"
312
- },
313
- "stack_6_main_group_3": {
314
- "cls": "Drawer"
315
- },
316
- "stack_6_main_group_4": {
317
- "cls": "Drawer"
318
- },
319
- "toaster_main_group": {
320
- "cls": "Toaster"
321
- },
322
- "knife_block_main_group": {
323
- "cls": "Accessory"
324
- },
325
- "paper_towel_main_group": {
326
- "cls": "Accessory"
327
- },
328
- "coffee_machine_main_group": {
329
- "cls": "CoffeeMachine"
330
- },
331
- "digital_scale_main_group": {
332
- "cls": "Accessory"
333
- },
334
- "oil_bottle_main_group": {
335
- "cls": "Accessory"
336
- },
337
- "jar_main_group": {
338
- "cls": "Accessory"
339
- },
340
- "paprika_main_group": {
341
- "cls": "Accessory"
342
- },
343
- "cinnamon_main_group": {
344
- "cls": "Accessory"
345
- },
346
- "turmeric_main_group": {
347
- "cls": "Accessory"
348
- },
349
- "oil_bottle_main_group_auxiliary_main_group": {
350
- "cls": "Accessory"
351
- },
352
- "jar_main_group_auxiliary_main_group": {
353
- "cls": "Accessory"
354
- },
355
- "sink_island_group": {
356
- "cls": "Sink"
357
- },
358
- "island_island_group": {
359
- "cls": "Counter"
360
- },
361
- "island_stack_1_island_group_base": {
362
- "cls": "Box"
363
- },
364
- "island_stack_1_island_group_1": {
365
- "cls": "HingeCabinet"
366
- },
367
- "island_stack_1_island_group_2": {
368
- "cls": "PanelCabinet"
369
- },
370
- "dishwasher_island_group": {
371
- "cls": "Dishwasher"
372
- },
373
- "island_panel_cab_right_island_group_base": {
374
- "cls": "Box"
375
- },
376
- "island_panel_cab_right_island_group_1": {
377
- "cls": "PanelCabinet"
378
- },
379
- "island_cab_left_island_group_base": {
380
- "cls": "Box"
381
- },
382
- "island_cab_left_island_group_1": {
383
- "cls": "Drawer"
384
- },
385
- "island_cab_left_island_group_2": {
386
- "cls": "Drawer"
387
- },
388
- "island_cab_left_island_group_3": {
389
- "cls": "Drawer"
390
- },
391
- "island_cab_left_island_group_4": {
392
- "cls": "Drawer"
393
- },
394
- "island_panel_cab_left_island_group_base": {
395
- "cls": "Box"
396
- },
397
- "island_panel_cab_left_island_group_1": {
398
- "cls": "PanelCabinet"
399
- },
400
- "island_base_box_island_group": {
401
- "cls": "Box"
402
- },
403
- "plant_island_group": {
404
- "cls": "Accessory"
405
- },
406
- "soap_dispenser_island_group": {
407
- "cls": "Accessory"
408
- },
409
- "fruit_bowl_island_group": {
410
- "cls": "Accessory"
411
- },
412
- "salt_shaker_island_group": {
413
- "cls": "Accessory"
414
- },
415
- "salt_shaker_island_group_auxiliary_island_group": {
416
- "cls": "Accessory"
417
- }
418
- },
419
- "gen_textures": {},
420
- "lang": "Pick the banana from the counter and place it in the cabinet.",
421
- "fixture_refs": {
422
- "cab": "shelves_main_group",
423
- "counter": "counter_main_main_group"
424
- },
425
- "cam_configs": {
426
- "robot0_agentview_center": {
427
- "pos": [
428
- -0.6,
429
- 0.0,
430
- 1.15
431
- ],
432
- "quat": [
433
- 0.636945903301239,
434
- 0.3325185477733612,
435
- -0.3199238181114197,
436
- -0.6175596117973328
437
- ],
438
- "parent_body": "mobilebase0_support"
439
- },
440
- "robot0_agentview_left": {
441
- "pos": [
442
- -0.5,
443
- 0.35,
444
- 1.05
445
- ],
446
- "quat": [
447
- 0.55623853,
448
- 0.29935253,
449
- -0.37678665,
450
- -0.6775092
451
- ],
452
- "camera_attribs": {
453
- "fovy": "60"
454
- },
455
- "parent_body": "mobilebase0_support"
456
- },
457
- "robot0_agentview_right": {
458
- "pos": [
459
- -0.5,
460
- -0.35,
461
- 1.05
462
- ],
463
- "quat": [
464
- 0.6775091886520386,
465
- 0.3767866790294647,
466
- -0.2993525564670563,
467
- -0.55623859167099
468
- ],
469
- "camera_attribs": {
470
- "fovy": "60"
471
- },
472
- "parent_body": "mobilebase0_support"
473
- },
474
- "robot0_frontview": {
475
- "pos": [
476
- -0.5,
477
- 0,
478
- 0.95
479
- ],
480
- "quat": [
481
- 0.6088936924934387,
482
- 0.3814677894115448,
483
- -0.3673907518386841,
484
- -0.5905545353889465
485
- ],
486
- "camera_attribs": {
487
- "fovy": "60"
488
- },
489
- "parent_body": "mobilebase0_support"
490
- },
491
- "robot0_eye_in_hand": {
492
- "pos": [
493
- 0.05,
494
- 0,
495
- 0
496
- ],
497
- "quat": [
498
- 0,
499
- 0.707107,
500
- 0.707107,
501
- 0
502
- ],
503
- "parent_body": "robot0_right_hand"
504
- }
505
- },
506
- "init_robot_base_pos": [
507
- 3.78183521754722,
508
- -0.7865962864833371,
509
- 0.0
510
- ],
511
- "init_robot_base_ori": [
512
- 0.0,
513
- 0.0,
514
- 1.5707963267948966
515
- ]
516
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000013/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:04b1087dba585d34e23a31703013ea77ec53d624653c28ce50ae02d6dcd09278
3
- size 52567
 
 
 
 
extras/episode_000013/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:fa9207e3a90888aa18cce4fc3a9a1903a5f5869945dfcbaf5380305c758d69f4
3
- size 150630
 
 
 
 
extras/episode_000014/ep_meta.json DELETED
@@ -1,530 +0,0 @@
1
- {
2
- "layout_id": 8,
3
- "style_id": 8,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_1_right_group",
12
- "sample_region_kwargs": {
13
- "ref": "shelves_right_group",
14
- "min_size": [
15
- 0.06471003648000001,
16
- 0.06416652800000001,
17
- 0.25590337792000006
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "wine",
38
- "drink",
39
- "alcohol"
40
- ],
41
- "groups": [
42
- "all"
43
- ],
44
- "cat": "wine",
45
- "split": "test",
46
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_6/model.xml"
47
- },
48
- "reset_region": {
49
- "size": [
50
- 1.020000000000001,
51
- 0.65
52
- ],
53
- "offset": [
54
- 0.4500000000000002,
55
- -3.469446951953614e-17,
56
- 0.46
57
- ],
58
- "name": "geom_0"
59
- }
60
- },
61
- {
62
- "name": "distr_counter",
63
- "obj_groups": "all",
64
- "placement": {
65
- "fixture": "counter_1_right_group",
66
- "sample_region_kwargs": {
67
- "ref": "shelves_right_group",
68
- "min_size": [
69
- 0.04855696904999999,
70
- 0.048556956699999994,
71
- 0.09597072899999999
72
- ]
73
- },
74
- "size": [
75
- 1.0,
76
- 0.3
77
- ],
78
- "pos": [
79
- "ref",
80
- -1.0
81
- ],
82
- "offset": [
83
- 0.0,
84
- 0.3
85
- ]
86
- },
87
- "type": "object",
88
- "info": {
89
- "groups_containing_sampled_obj": [
90
- "all",
91
- "shaker",
92
- "condiment"
93
- ],
94
- "groups": [
95
- "all"
96
- ],
97
- "cat": "shaker",
98
- "split": "test",
99
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
100
- },
101
- "reset_region": {
102
- "size": [
103
- 1.020000000000001,
104
- 0.65
105
- ],
106
- "offset": [
107
- 0.4500000000000002,
108
- -3.469446951953614e-17,
109
- 0.46
110
- ],
111
- "name": "geom_0"
112
- }
113
- },
114
- {
115
- "name": "distr_cab",
116
- "obj_groups": "all",
117
- "placement": {
118
- "fixture": "shelves_right_group",
119
- "size": [
120
- 1.0,
121
- 0.2
122
- ],
123
- "pos": [
124
- null,
125
- 1.0
126
- ],
127
- "offset": [
128
- 0.0,
129
- 0.0
130
- ]
131
- },
132
- "type": "object",
133
- "info": {
134
- "groups_containing_sampled_obj": [
135
- "all",
136
- "fish",
137
- "meat",
138
- "food",
139
- "in_container",
140
- "oven_ready"
141
- ],
142
- "groups": [
143
- "all"
144
- ],
145
- "cat": "fish",
146
- "split": "test",
147
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
148
- },
149
- "reset_region": {
150
- "offset": [
151
- 0.0,
152
- 0.0,
153
- -0.43000000000000005
154
- ],
155
- "size": [
156
- 1.0,
157
- 0.4
158
- ],
159
- "height": 0.41500000000000004,
160
- "name": "level0"
161
- }
162
- }
163
- ],
164
- "fixtures": {
165
- "wall_room": {
166
- "cls": "Wall"
167
- },
168
- "wall_backing_room": {
169
- "cls": "Wall"
170
- },
171
- "wall_left_room": {
172
- "cls": "Wall"
173
- },
174
- "wall_left_backing_room": {
175
- "cls": "Wall"
176
- },
177
- "wall_right_room": {
178
- "cls": "Wall"
179
- },
180
- "wall_right_backing_room": {
181
- "cls": "Wall"
182
- },
183
- "outlet_room": {
184
- "cls": "WallAccessory"
185
- },
186
- "outlet_2_room": {
187
- "cls": "WallAccessory"
188
- },
189
- "light_switch_room": {
190
- "cls": "WallAccessory"
191
- },
192
- "light_switch_2_room": {
193
- "cls": "WallAccessory"
194
- },
195
- "utensil_rack_room": {
196
- "cls": "WallAccessory"
197
- },
198
- "window_group_room": {
199
- "cls": "Window"
200
- },
201
- "floor_room": {
202
- "cls": "Floor"
203
- },
204
- "floor_backing_room": {
205
- "cls": "Floor"
206
- },
207
- "stool_1_room": {
208
- "cls": "Stool"
209
- },
210
- "stool_2_room": {
211
- "cls": "Stool"
212
- },
213
- "counter_corner_main_group": {
214
- "cls": "Counter"
215
- },
216
- "counter_main_main_group": {
217
- "cls": "Counter"
218
- },
219
- "counter_corner_2_main_group": {
220
- "cls": "Counter"
221
- },
222
- "cab_corner_main_group": {
223
- "cls": "Box"
224
- },
225
- "cab_corner_2_main_group": {
226
- "cls": "Box"
227
- },
228
- "cab_main_main_group": {
229
- "cls": "HingeCabinet"
230
- },
231
- "cab_1_main_group": {
232
- "cls": "SingleCabinet"
233
- },
234
- "cab_corner_3_main_group": {
235
- "cls": "Box"
236
- },
237
- "cab_corner_4_main_group": {
238
- "cls": "Box"
239
- },
240
- "stack_1_main_group_base": {
241
- "cls": "Box"
242
- },
243
- "stack_1_main_group_1": {
244
- "cls": "HingeCabinet"
245
- },
246
- "stack_1_main_group_2": {
247
- "cls": "Drawer"
248
- },
249
- "stack_1_main_group_3": {
250
- "cls": "Drawer"
251
- },
252
- "stack_2_main_group_base": {
253
- "cls": "Box"
254
- },
255
- "stack_2_main_group_1": {
256
- "cls": "HingeCabinet"
257
- },
258
- "stack_2_main_group_2": {
259
- "cls": "Drawer"
260
- },
261
- "stack_2_main_group_3": {
262
- "cls": "Drawer"
263
- },
264
- "stack_3_main_group_base": {
265
- "cls": "Box"
266
- },
267
- "stack_3_main_group_1": {
268
- "cls": "Drawer"
269
- },
270
- "stack_3_main_group_2": {
271
- "cls": "Drawer"
272
- },
273
- "stack_3_main_group_3": {
274
- "cls": "Drawer"
275
- },
276
- "stack_3_main_group_4": {
277
- "cls": "Drawer"
278
- },
279
- "toaster_main_group": {
280
- "cls": "Toaster"
281
- },
282
- "toaster_oven_main_group": {
283
- "cls": "ToasterOven"
284
- },
285
- "oil_bottle_main_group": {
286
- "cls": "Accessory"
287
- },
288
- "fruit_bowl_main_group": {
289
- "cls": "Accessory"
290
- },
291
- "knife_block_main_group": {
292
- "cls": "Accessory"
293
- },
294
- "utensil_set_main_group": {
295
- "cls": "Accessory"
296
- },
297
- "paper_towel_main_group": {
298
- "cls": "Accessory"
299
- },
300
- "oil_bottle_main_group_auxiliary_main_group": {
301
- "cls": "Accessory"
302
- },
303
- "counter_1_front_group": {
304
- "cls": "Counter"
305
- },
306
- "counter_corner_front_group": {
307
- "cls": "Counter"
308
- },
309
- "counter_1_left_group": {
310
- "cls": "Counter"
311
- },
312
- "stove_left_group": {
313
- "cls": "Stove"
314
- },
315
- "counter_2_left_group": {
316
- "cls": "Counter"
317
- },
318
- "counter_corner_left_group": {
319
- "cls": "Counter"
320
- },
321
- "fridge_left_group": {
322
- "cls": "FridgeFrenchDoor"
323
- },
324
- "fridge_housing_left_group": {
325
- "cls": "HousingCabinet"
326
- },
327
- "stack_1_left_group_base": {
328
- "cls": "Box"
329
- },
330
- "stack_1_left_group_1": {
331
- "cls": "SingleCabinet"
332
- },
333
- "stack_1_left_group_2": {
334
- "cls": "Drawer"
335
- },
336
- "stack_2_left_group_base": {
337
- "cls": "Box"
338
- },
339
- "stack_2_left_group_1": {
340
- "cls": "SingleCabinet"
341
- },
342
- "stack_2_left_group_2": {
343
- "cls": "Drawer"
344
- },
345
- "cab_1_left_group": {
346
- "cls": "SingleCabinet"
347
- },
348
- "microwave_left_group": {
349
- "cls": "Microwave"
350
- },
351
- "cab_micro_left_group": {
352
- "cls": "HingeCabinet"
353
- },
354
- "cab_2_left_group": {
355
- "cls": "SingleCabinet"
356
- },
357
- "cab_3_left_group": {
358
- "cls": "HingeCabinet"
359
- },
360
- "coffee_machine_left_group": {
361
- "cls": "CoffeeMachine"
362
- },
363
- "salt_shaker_left_group": {
364
- "cls": "Accessory"
365
- },
366
- "salt_shaker_left_group_auxiliary_left_group": {
367
- "cls": "Accessory"
368
- },
369
- "sink_right_group": {
370
- "cls": "Sink"
371
- },
372
- "counter_1_right_group": {
373
- "cls": "Counter"
374
- },
375
- "counter_corner_right_group": {
376
- "cls": "Counter"
377
- },
378
- "counter_corner_2_right_group": {
379
- "cls": "Counter"
380
- },
381
- "stack_1_right_group_base": {
382
- "cls": "Box"
383
- },
384
- "stack_1_right_group_1": {
385
- "cls": "HingeCabinet"
386
- },
387
- "stack_1_right_group_2": {
388
- "cls": "PanelCabinet"
389
- },
390
- "dishwasher_right_group": {
391
- "cls": "Dishwasher"
392
- },
393
- "stack_2_right_group_base": {
394
- "cls": "Box"
395
- },
396
- "stack_2_right_group_1": {
397
- "cls": "Drawer"
398
- },
399
- "stack_2_right_group_2": {
400
- "cls": "Drawer"
401
- },
402
- "stack_2_right_group_3": {
403
- "cls": "Drawer"
404
- },
405
- "stack_2_right_group_4": {
406
- "cls": "Drawer"
407
- },
408
- "cab_1_right_group": {
409
- "cls": "HingeCabinet"
410
- },
411
- "shelves_right_group": {
412
- "cls": "OpenCabinet"
413
- },
414
- "flower_vase_right_group": {
415
- "cls": "Accessory"
416
- },
417
- "soap_dispenser_right_group": {
418
- "cls": "Accessory"
419
- },
420
- "glass_cup_right_group": {
421
- "cls": "Accessory"
422
- },
423
- "glass_cup_2_right_group": {
424
- "cls": "Accessory"
425
- },
426
- "paprika_right_group": {
427
- "cls": "Accessory"
428
- },
429
- "cinnamon_right_group": {
430
- "cls": "Accessory"
431
- }
432
- },
433
- "gen_textures": {},
434
- "lang": "Pick the wine from the counter and place it in the cabinet.",
435
- "fixture_refs": {
436
- "cab": "shelves_right_group",
437
- "counter": "counter_1_right_group"
438
- },
439
- "cam_configs": {
440
- "robot0_agentview_center": {
441
- "pos": [
442
- -0.6,
443
- 0.0,
444
- 1.15
445
- ],
446
- "quat": [
447
- 0.636945903301239,
448
- 0.3325185477733612,
449
- -0.3199238181114197,
450
- -0.6175596117973328
451
- ],
452
- "parent_body": "mobilebase0_support"
453
- },
454
- "robot0_agentview_left": {
455
- "pos": [
456
- -0.5,
457
- 0.35,
458
- 1.05
459
- ],
460
- "quat": [
461
- 0.55623853,
462
- 0.29935253,
463
- -0.37678665,
464
- -0.6775092
465
- ],
466
- "camera_attribs": {
467
- "fovy": "60"
468
- },
469
- "parent_body": "mobilebase0_support"
470
- },
471
- "robot0_agentview_right": {
472
- "pos": [
473
- -0.5,
474
- -0.35,
475
- 1.05
476
- ],
477
- "quat": [
478
- 0.6775091886520386,
479
- 0.3767866790294647,
480
- -0.2993525564670563,
481
- -0.55623859167099
482
- ],
483
- "camera_attribs": {
484
- "fovy": "60"
485
- },
486
- "parent_body": "mobilebase0_support"
487
- },
488
- "robot0_frontview": {
489
- "pos": [
490
- -0.5,
491
- 0,
492
- 0.95
493
- ],
494
- "quat": [
495
- 0.6088936924934387,
496
- 0.3814677894115448,
497
- -0.3673907518386841,
498
- -0.5905545353889465
499
- ],
500
- "camera_attribs": {
501
- "fovy": "60"
502
- },
503
- "parent_body": "mobilebase0_support"
504
- },
505
- "robot0_eye_in_hand": {
506
- "pos": [
507
- 0.05,
508
- 0,
509
- 0
510
- ],
511
- "quat": [
512
- 0,
513
- 0.707107,
514
- 0.707107,
515
- 0
516
- ],
517
- "parent_body": "robot0_right_hand"
518
- }
519
- },
520
- "init_robot_base_pos": [
521
- 3.601154380729589,
522
- -2.0660888432863014,
523
- 0.0
524
- ],
525
- "init_robot_base_ori": [
526
- 0.0,
527
- 0.0,
528
- -3.673205103416066e-06
529
- ]
530
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000014/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:a040d97610ecc246b9719a19c0284c84fc7cf98031659dc7e443b605a9dae1ef
3
- size 59838
 
 
 
 
extras/episode_000014/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:e32c599c23b1b6bbea87a98e84f52a3d63eb041139b21edc434bc891caef0d2d
3
- size 285953
 
 
 
 
extras/episode_000015/ep_meta.json DELETED
@@ -1,528 +0,0 @@
1
- {
2
- "layout_id": 8,
3
- "style_id": 8,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_2_left_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_2_left_group",
14
- "min_size": [
15
- 0.0473040645,
16
- 0.04630570230000001,
17
- 0.1643733135
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "bottled_water",
38
- "drink"
39
- ],
40
- "groups": [
41
- "all"
42
- ],
43
- "cat": "bottled_water",
44
- "split": "test",
45
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_8/model.xml"
46
- },
47
- "reset_region": {
48
- "size": [
49
- 0.5,
50
- 0.65
51
- ],
52
- "offset": [
53
- 0.0,
54
- 0.0,
55
- 0.46
56
- ],
57
- "name": "geom_0"
58
- }
59
- },
60
- {
61
- "name": "distr_counter",
62
- "obj_groups": "all",
63
- "placement": {
64
- "fixture": "counter_2_left_group",
65
- "sample_region_kwargs": {
66
- "ref": "cab_2_left_group",
67
- "min_size": [
68
- 0.211158,
69
- 0.1599644,
70
- 0.19934399
71
- ]
72
- },
73
- "size": [
74
- 1.0,
75
- 0.3
76
- ],
77
- "pos": [
78
- "ref",
79
- -1.0
80
- ],
81
- "offset": [
82
- 0.0,
83
- 0.3
84
- ]
85
- },
86
- "type": "object",
87
- "info": {
88
- "groups_containing_sampled_obj": [
89
- "all",
90
- "kettle_non_electric",
91
- "receptacle",
92
- "kettle",
93
- "cookware"
94
- ],
95
- "groups": [
96
- "all"
97
- ],
98
- "cat": "kettle_non_electric",
99
- "split": "test",
100
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle024/model.xml"
101
- },
102
- "reset_region": {
103
- "size": [
104
- 0.5,
105
- 0.65
106
- ],
107
- "offset": [
108
- 0.0,
109
- 0.0,
110
- 0.46
111
- ],
112
- "name": "geom_0"
113
- }
114
- },
115
- {
116
- "name": "distr_cab",
117
- "obj_groups": "all",
118
- "placement": {
119
- "fixture": "cab_2_left_group",
120
- "size": [
121
- 1.0,
122
- 0.2
123
- ],
124
- "pos": [
125
- null,
126
- 1.0
127
- ],
128
- "offset": [
129
- 0.0,
130
- 0.0
131
- ]
132
- },
133
- "type": "object",
134
- "info": {
135
- "groups_containing_sampled_obj": [
136
- "all",
137
- "cereal",
138
- "packaged_food"
139
- ],
140
- "groups": [
141
- "all"
142
- ],
143
- "cat": "cereal",
144
- "split": "test",
145
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_7/model.xml"
146
- },
147
- "reset_region": {
148
- "offset": [
149
- 0.0,
150
- 0.0,
151
- -0.43
152
- ],
153
- "size": [
154
- 0.44,
155
- 0.34
156
- ],
157
- "height": 0.2666666666666667,
158
- "name": "level0"
159
- }
160
- }
161
- ],
162
- "fixtures": {
163
- "wall_room": {
164
- "cls": "Wall"
165
- },
166
- "wall_backing_room": {
167
- "cls": "Wall"
168
- },
169
- "wall_left_room": {
170
- "cls": "Wall"
171
- },
172
- "wall_left_backing_room": {
173
- "cls": "Wall"
174
- },
175
- "wall_right_room": {
176
- "cls": "Wall"
177
- },
178
- "wall_right_backing_room": {
179
- "cls": "Wall"
180
- },
181
- "outlet_room": {
182
- "cls": "WallAccessory"
183
- },
184
- "outlet_2_room": {
185
- "cls": "WallAccessory"
186
- },
187
- "light_switch_room": {
188
- "cls": "WallAccessory"
189
- },
190
- "light_switch_2_room": {
191
- "cls": "WallAccessory"
192
- },
193
- "utensil_rack_room": {
194
- "cls": "WallAccessory"
195
- },
196
- "window_group_room": {
197
- "cls": "Window"
198
- },
199
- "floor_room": {
200
- "cls": "Floor"
201
- },
202
- "floor_backing_room": {
203
- "cls": "Floor"
204
- },
205
- "stool_1_room": {
206
- "cls": "Stool"
207
- },
208
- "stool_2_room": {
209
- "cls": "Stool"
210
- },
211
- "counter_corner_main_group": {
212
- "cls": "Counter"
213
- },
214
- "counter_main_main_group": {
215
- "cls": "Counter"
216
- },
217
- "counter_corner_2_main_group": {
218
- "cls": "Counter"
219
- },
220
- "cab_corner_main_group": {
221
- "cls": "Box"
222
- },
223
- "cab_corner_2_main_group": {
224
- "cls": "Box"
225
- },
226
- "cab_main_main_group": {
227
- "cls": "HingeCabinet"
228
- },
229
- "cab_1_main_group": {
230
- "cls": "SingleCabinet"
231
- },
232
- "cab_corner_3_main_group": {
233
- "cls": "Box"
234
- },
235
- "cab_corner_4_main_group": {
236
- "cls": "Box"
237
- },
238
- "stack_1_main_group_base": {
239
- "cls": "Box"
240
- },
241
- "stack_1_main_group_1": {
242
- "cls": "HingeCabinet"
243
- },
244
- "stack_1_main_group_2": {
245
- "cls": "Drawer"
246
- },
247
- "stack_1_main_group_3": {
248
- "cls": "Drawer"
249
- },
250
- "stack_2_main_group_base": {
251
- "cls": "Box"
252
- },
253
- "stack_2_main_group_1": {
254
- "cls": "HingeCabinet"
255
- },
256
- "stack_2_main_group_2": {
257
- "cls": "Drawer"
258
- },
259
- "stack_2_main_group_3": {
260
- "cls": "Drawer"
261
- },
262
- "stack_3_main_group_base": {
263
- "cls": "Box"
264
- },
265
- "stack_3_main_group_1": {
266
- "cls": "Drawer"
267
- },
268
- "stack_3_main_group_2": {
269
- "cls": "Drawer"
270
- },
271
- "stack_3_main_group_3": {
272
- "cls": "Drawer"
273
- },
274
- "stack_3_main_group_4": {
275
- "cls": "Drawer"
276
- },
277
- "toaster_main_group": {
278
- "cls": "Toaster"
279
- },
280
- "toaster_oven_main_group": {
281
- "cls": "ToasterOven"
282
- },
283
- "oil_bottle_main_group": {
284
- "cls": "Accessory"
285
- },
286
- "fruit_bowl_main_group": {
287
- "cls": "Accessory"
288
- },
289
- "knife_block_main_group": {
290
- "cls": "Accessory"
291
- },
292
- "utensil_set_main_group": {
293
- "cls": "Accessory"
294
- },
295
- "paper_towel_main_group": {
296
- "cls": "Accessory"
297
- },
298
- "oil_bottle_main_group_auxiliary_main_group": {
299
- "cls": "Accessory"
300
- },
301
- "counter_1_front_group": {
302
- "cls": "Counter"
303
- },
304
- "counter_corner_front_group": {
305
- "cls": "Counter"
306
- },
307
- "counter_1_left_group": {
308
- "cls": "Counter"
309
- },
310
- "stove_left_group": {
311
- "cls": "Stove"
312
- },
313
- "counter_2_left_group": {
314
- "cls": "Counter"
315
- },
316
- "counter_corner_left_group": {
317
- "cls": "Counter"
318
- },
319
- "fridge_left_group": {
320
- "cls": "FridgeFrenchDoor"
321
- },
322
- "fridge_housing_left_group": {
323
- "cls": "HousingCabinet"
324
- },
325
- "stack_1_left_group_base": {
326
- "cls": "Box"
327
- },
328
- "stack_1_left_group_1": {
329
- "cls": "SingleCabinet"
330
- },
331
- "stack_1_left_group_2": {
332
- "cls": "Drawer"
333
- },
334
- "stack_2_left_group_base": {
335
- "cls": "Box"
336
- },
337
- "stack_2_left_group_1": {
338
- "cls": "SingleCabinet"
339
- },
340
- "stack_2_left_group_2": {
341
- "cls": "Drawer"
342
- },
343
- "cab_1_left_group": {
344
- "cls": "SingleCabinet"
345
- },
346
- "microwave_left_group": {
347
- "cls": "Microwave"
348
- },
349
- "cab_micro_left_group": {
350
- "cls": "HingeCabinet"
351
- },
352
- "cab_2_left_group": {
353
- "cls": "SingleCabinet"
354
- },
355
- "cab_3_left_group": {
356
- "cls": "HingeCabinet"
357
- },
358
- "coffee_machine_left_group": {
359
- "cls": "CoffeeMachine"
360
- },
361
- "salt_shaker_left_group": {
362
- "cls": "Accessory"
363
- },
364
- "salt_shaker_left_group_auxiliary_left_group": {
365
- "cls": "Accessory"
366
- },
367
- "sink_right_group": {
368
- "cls": "Sink"
369
- },
370
- "counter_1_right_group": {
371
- "cls": "Counter"
372
- },
373
- "counter_corner_right_group": {
374
- "cls": "Counter"
375
- },
376
- "counter_corner_2_right_group": {
377
- "cls": "Counter"
378
- },
379
- "stack_1_right_group_base": {
380
- "cls": "Box"
381
- },
382
- "stack_1_right_group_1": {
383
- "cls": "HingeCabinet"
384
- },
385
- "stack_1_right_group_2": {
386
- "cls": "PanelCabinet"
387
- },
388
- "dishwasher_right_group": {
389
- "cls": "Dishwasher"
390
- },
391
- "stack_2_right_group_base": {
392
- "cls": "Box"
393
- },
394
- "stack_2_right_group_1": {
395
- "cls": "Drawer"
396
- },
397
- "stack_2_right_group_2": {
398
- "cls": "Drawer"
399
- },
400
- "stack_2_right_group_3": {
401
- "cls": "Drawer"
402
- },
403
- "stack_2_right_group_4": {
404
- "cls": "Drawer"
405
- },
406
- "cab_1_right_group": {
407
- "cls": "HingeCabinet"
408
- },
409
- "shelves_right_group": {
410
- "cls": "OpenCabinet"
411
- },
412
- "flower_vase_right_group": {
413
- "cls": "Accessory"
414
- },
415
- "soap_dispenser_right_group": {
416
- "cls": "Accessory"
417
- },
418
- "glass_cup_right_group": {
419
- "cls": "Accessory"
420
- },
421
- "glass_cup_2_right_group": {
422
- "cls": "Accessory"
423
- },
424
- "paprika_right_group": {
425
- "cls": "Accessory"
426
- },
427
- "cinnamon_right_group": {
428
- "cls": "Accessory"
429
- }
430
- },
431
- "gen_textures": {},
432
- "lang": "Pick the bottled water from the counter and place it in the cabinet.",
433
- "fixture_refs": {
434
- "cab": "cab_2_left_group",
435
- "counter": "counter_2_left_group"
436
- },
437
- "cam_configs": {
438
- "robot0_agentview_center": {
439
- "pos": [
440
- -0.6,
441
- 0.0,
442
- 1.15
443
- ],
444
- "quat": [
445
- 0.636945903301239,
446
- 0.3325185477733612,
447
- -0.3199238181114197,
448
- -0.6175596117973328
449
- ],
450
- "parent_body": "mobilebase0_support"
451
- },
452
- "robot0_agentview_left": {
453
- "pos": [
454
- -0.5,
455
- 0.35,
456
- 1.05
457
- ],
458
- "quat": [
459
- 0.55623853,
460
- 0.29935253,
461
- -0.37678665,
462
- -0.6775092
463
- ],
464
- "camera_attribs": {
465
- "fovy": "60"
466
- },
467
- "parent_body": "mobilebase0_support"
468
- },
469
- "robot0_agentview_right": {
470
- "pos": [
471
- -0.5,
472
- -0.35,
473
- 1.05
474
- ],
475
- "quat": [
476
- 0.6775091886520386,
477
- 0.3767866790294647,
478
- -0.2993525564670563,
479
- -0.55623859167099
480
- ],
481
- "camera_attribs": {
482
- "fovy": "60"
483
- },
484
- "parent_body": "mobilebase0_support"
485
- },
486
- "robot0_frontview": {
487
- "pos": [
488
- -0.5,
489
- 0,
490
- 0.95
491
- ],
492
- "quat": [
493
- 0.6088936924934387,
494
- 0.3814677894115448,
495
- -0.3673907518386841,
496
- -0.5905545353889465
497
- ],
498
- "camera_attribs": {
499
- "fovy": "60"
500
- },
501
- "parent_body": "mobilebase0_support"
502
- },
503
- "robot0_eye_in_hand": {
504
- "pos": [
505
- 0.05,
506
- 0,
507
- 0
508
- ],
509
- "quat": [
510
- 0,
511
- 0.707107,
512
- 0.707107,
513
- 0
514
- ],
515
- "parent_body": "robot0_right_hand"
516
- }
517
- },
518
- "init_robot_base_pos": [
519
- 0.8346499212105912,
520
- -2.1678521138221245,
521
- 0.0
522
- ],
523
- "init_robot_base_ori": [
524
- 0.0,
525
- 0.0,
526
- 3.1415963267948968
527
- ]
528
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
extras/episode_000015/model.xml.gz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:6ac88b57f56653581a91af28c319a41fdd06300f374e1841b40e495a1cd7f442
3
- size 59731
 
 
 
 
extras/episode_000015/states.npz DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:6f2af17dc4cfa75c9471bb8e59f2630a3eaeeb7304d78958ab39e7ad655eb2b1
3
- size 431198
 
 
 
 
extras/episode_000016/ep_meta.json DELETED
@@ -1,493 +0,0 @@
1
- {
2
- "layout_id": 5,
3
- "style_id": 5,
4
- "object_cfgs": [
5
- {
6
- "name": "obj",
7
- "obj_groups": "all",
8
- "exclude_obj_groups": null,
9
- "graspable": true,
10
- "placement": {
11
- "fixture": "counter_main_main_group",
12
- "sample_region_kwargs": {
13
- "ref": "cab_main_main_group",
14
- "min_size": [
15
- 0.06879150739999997,
16
- 0.06859349419999997,
17
- 0.05522407309999998
18
- ]
19
- },
20
- "size": [
21
- 0.6,
22
- 0.3
23
- ],
24
- "pos": [
25
- "ref",
26
- -1.0
27
- ],
28
- "offset": [
29
- 0.0,
30
- 0.1
31
- ]
32
- },
33
- "type": "object",
34
- "info": {
35
- "groups_containing_sampled_obj": [
36
- "all",
37
- "orange",
38
- "fruit",
39
- "food",
40
- "in_container",
41
- "food_set1"
42
- ],
43
- "groups": [
44
- "all"
45
- ],
46
- "cat": "orange",
47
- "split": "test",
48
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_4/model.xml"
49
- },
50
- "reset_region": {
51
- "size": [
52
- 1.0,
53
- 0.65
54
- ],
55
- "offset": [
56
- -0.49999999999999994,
57
- 0.0,
58
- 0.46
59
- ],
60
- "name": "geom_0"
61
- }
62
- },
63
- {
64
- "name": "distr_counter",
65
- "obj_groups": "all",
66
- "placement": {
67
- "fixture": "counter_main_main_group",
68
- "sample_region_kwargs": {
69
- "ref": "cab_main_main_group",
70
- "min_size": [
71
- 0.14416,
72
- 0.10415903200000001,
73
- 0.07119842400000001
74
- ]
75
- },
76
- "size": [
77
- 1.0,
78
- 0.3
79
- ],
80
- "pos": [
81
- "ref",
82
- -1.0
83
- ],
84
- "offset": [
85
- 0.0,
86
- 0.3
87
- ]
88
- },
89
- "type": "object",
90
- "info": {
91
- "groups_containing_sampled_obj": [
92
- "all",
93
- "tupperware",
94
- "receptacle"
95
- ],
96
- "groups": [
97
- "all"
98
- ],
99
- "cat": "tupperware",
100
- "split": "test",
101
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
102
- },
103
- "reset_region": {
104
- "size": [
105
- 1.0,
106
- 0.65
107
- ],
108
- "offset": [
109
- -0.49999999999999994,
110
- 0.0,
111
- 0.46
112
- ],
113
- "name": "geom_0"
114
- }
115
- },
116
- {
117
- "name": "distr_cab",
118
- "obj_groups": "all",
119
- "placement": {
120
- "fixture": "cab_main_main_group",
121
- "size": [
122
- 1.0,
123
- 0.2
124
- ],
125
- "pos": [
126
- null,
127
- 1.0
128
- ],
129
- "offset": [
130
- 0.0,
131
- 0.0
132
- ]
133
- },
134
- "type": "object",
135
- "info": {
136
- "groups_containing_sampled_obj": [
137
- "all",
138
- "steak",
139
- "meat",
140
- "food",
141
- "in_container",
142
- "oven_ready"
143
- ],
144
- "groups": [
145
- "all"
146
- ],
147
- "cat": "steak",
148
- "split": "test",
149
- "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_6/model.xml"
150
- },
151
- "reset_region": {
152
- "offset": [
153
- 0.0,
154
- 0.0,
155
- -0.43
156
- ],
157
- "size": [
158
- 0.94,
159
- 0.34
160
- ],
161
- "height": 0.2666666666666667,
162
- "name": "level0"
163
- }
164
- }
165
- ],
166
- "fixtures": {
167
- "wall_room": {
168
- "cls": "Wall"
169
- },
170
- "wall_backing_room": {
171
- "cls": "Wall"
172
- },
173
- "wall_left_room": {
174
- "cls": "Wall"
175
- },
176
- "wall_left_backing_room": {
177
- "cls": "Wall"
178
- },
179
- "wall_right_room": {
180
- "cls": "Wall"
181
- },
182
- "wall_right_backing_room": {
183
- "cls": "Wall"
184
- },
185
- "outlet_room": {
186
- "cls": "WallAccessory"
187
- },
188
- "outlet_2_room": {
189
- "cls": "WallAccessory"
190
- },
191
- "outlet_3_room": {
192
- "cls": "WallAccessory"
193
- },
194
- "untensil_rack_room": {
195
- "cls": "WallAccessory"
196
- },
197
- "light_switch_room": {
198
- "cls": "WallAccessory"
199
- },
200
- "light_switch_2_room": {
201
- "cls": "WallAccessory"
202
- },
203
- "window_group_room": {
204
- "cls": "Window"
205
- },
206
- "floor_room": {
207
- "cls": "Floor"
208
- },
209
- "floor_backing_room": {
210
- "cls": "Floor"
211
- },
212
- "sink_left_group": {
213
- "cls": "Sink"
214
- },
215
- "counter_left_group": {
216
- "cls": "Counter"
217
- },
218
- "fridge_left_group": {
219
- "cls": "FridgeBottomFreezer"
220
- },
221
- "cab_1_left_group": {
222
- "cls": "HingeCabinet"
223
- },
224
- "cab_2_left_group": {
225
- "cls": "OpenCabinet"
226
- },
227
- "stack_1_left_group_base": {
228
- "cls": "Box"
229
- },
230
- "stack_1_left_group_1": {
231
- "cls": "Drawer"
232
- },
233
- "stack_1_left_group_2": {
234
- "cls": "Drawer"
235
- },
236
- "stack_1_left_group_3": {
237
- "cls": "Drawer"
238
- },
239
- "stack_1_left_group_4": {
240
- "cls": "Drawer"
241
- },
242
- "stack_2_left_group_base": {
243
- "cls": "Box"
244
- },
245
- "stack_2_left_group_1": {
246
- "cls": "HingeCabinet"
247
- },
248
- "stack_2_left_group_2": {
249
- "cls": "Drawer"
250
- },
251
- "stack_2_left_group_3": {
252
- "cls": "Drawer"
253
- },
254
- "dishwasher_left_group": {
255
- "cls": "Dishwasher"
256
- },
257
- "stack_3_left_group_base": {
258
- "cls": "Box"
259
- },
260
- "stack_3_left_group_1": {
261
- "cls": "HingeCabinet"
262
- },
263
- "stack_3_left_group_2": {
264
- "cls": "PanelCabinet"
265
- },
266
- "stack_4_left_group_base": {
267
- "cls": "Box"
268
- },
269
- "stack_4_left_group_1": {
270
- "cls": "SingleCabinet"
271
- },
272
- "stack_4_left_group_2": {
273
- "cls": "Drawer"
274
- },
275
- "flower_vase_left_group": {
276
- "cls": "Accessory"
277
- },
278
- "soap_dispenser_left_group": {
279
- "cls": "Accessory"
280
- },
281
- "knife_block_left_group": {
282
- "cls": "Accessory"
283
- },
284
- "paprika_left_group": {
285
- "cls": "Accessory"
286
- },
287
- "cinnamon_left_group": {
288
- "cls": "Accessory"
289
- },
290
- "turmeric_left_group": {
291
- "cls": "Accessory"
292
- },
293
- "glass_cup_left_group": {
294
- "cls": "Accessory"
295
- },
296
- "digital_scale_left_group": {
297
- "cls": "Accessory"
298
- },
299
- "paper_towel_left_group": {
300
- "cls": "Accessory"
301
- },
302
- "counter_main_main_group": {
303
- "cls": "Counter"
304
- },
305
- "stove_main_group": {
306
- "cls": "Stove"
307
- },
308
- "counter_right_main_group": {
309
- "cls": "Counter"
310
- },
311
- "cab_main_main_group": {
312
- "cls": "HingeCabinet"
313
- },
314
- "cab_1_main_group": {
315
- "cls": "HingeCabinet"
316
- },
317
- "microwave_main_group": {
318
- "cls": "Microwave"
319
- },
320
- "cab_micro_main_group": {
321
- "cls": "HingeCabinet"
322
- },
323
- "cab_2_main_group": {
324
- "cls": "HingeCabinet"
325
- },
326
- "cab_3_main_group": {
327
- "cls": "HingeCabinet"
328
- },
329
- "stack_1_main_group_base": {
330
- "cls": "Box"
331
- },
332
- "stack_1_main_group_1": {
333
- "cls": "HingeCabinet"
334
- },
335
- "stack_1_main_group_2": {
336
- "cls": "Drawer"
337
- },
338
- "stack_1_main_group_3": {
339
- "cls": "Drawer"
340
- },
341
- "stack_2_main_group_base": {
342
- "cls": "Box"
343
- },
344
- "stack_2_main_group_1": {
345
- "cls": "Drawer"
346
- },
347
- "stack_2_main_group_2": {
348
- "cls": "Drawer"
349
- },
350
- "stack_2_main_group_3": {
351
- "cls": "Drawer"
352
- },
353
- "stack_2_main_group_4": {
354
- "cls": "Drawer"
355
- },
356
- "stack_3_main_group_base": {
357
- "cls": "Box"
358
- },
359
- "stack_3_main_group_1": {
360
- "cls": "HingeCabinet"
361
- },
362
- "stack_3_main_group_2": {
363
- "cls": "Drawer"
364
- },
365
- "stack_3_main_group_3": {
366
- "cls": "Drawer"
367
- },
368
- "stack_4_main_group_base": {
369
- "cls": "Box"
370
- },
371
- "stack_4_main_group_1": {
372
- "cls": "HingeCabinet"
373
- },
374
- "stack_4_main_group_2": {
375
- "cls": "Drawer"
376
- },
377
- "stack_4_main_group_3": {
378
- "cls": "Drawer"
379
- },
380
- "coffee_machine_main_group": {
381
- "cls": "CoffeeMachine"
382
- },
383
- "utensil_set_main_group": {
384
- "cls": "Accessory"
385
- },
386
- "toaster_main_group": {
387
- "cls": "Toaster"
388
- },
389
- "toaster_oven_main_group": {
390
- "cls": "ToasterOven"
391
- },
392
- "tiered_basket_main_group": {
393
- "cls": "Accessory"
394
- }
395
- },
396
- "gen_textures": {},
397
- "lang": "Pick the orange from the counter and place it in the cabinet.",
398
- "fixture_refs": {
399
- "cab": "cab_main_main_group",
400
- "counter": "counter_main_main_group"
401
- },
402
- "cam_configs": {
403
- "robot0_agentview_center": {
404
- "pos": [
405
- -0.6,
406
- 0.0,
407
- 1.15
408
- ],
409
- "quat": [
410
- 0.636945903301239,
411
- 0.3325185477733612,
412
- -0.3199238181114197,
413
- -0.6175596117973328
414
- ],
415
- "parent_body": "mobilebase0_support"
416
- },
417
- "robot0_agentview_left": {
418
- "pos": [
419
- -0.5,
420
- 0.35,
421
- 1.05
422
- ],
423
- "quat": [
424
- 0.55623853,
425
- 0.29935253,
426
- -0.37678665,
427
- -0.6775092
428
- ],
429
- "camera_attribs": {
430
- "fovy": "60"
431
- },
432
- "parent_body": "mobilebase0_support"
433
- },
434
- "robot0_agentview_right": {
435
- "pos": [
436
- -0.5,
437
- -0.35,
438
- 1.05
439
- ],
440
- "quat": [
441
- 0.6775091886520386,
442
- 0.3767866790294647,
443
- -0.2993525564670563,
444
- -0.55623859167099
445
- ],
446
- "camera_attribs": {
447
- "fovy": "60"
448
- },
449
- "parent_body": "mobilebase0_support"
450
- },
451
- "robot0_frontview": {
452
- "pos": [
453
- -0.5,
454
- 0,
455
- 0.95
456
- ],
457
- "quat": [
458
- 0.6088936924934387,
459
- 0.3814677894115448,
460
- -0.3673907518386841,
461
- -0.5905545353889465
462
- ],
463
- "camera_attribs": {
464
- "fovy": "60"
465
- },
466
- "parent_body": "mobilebase0_support"
467
- },
468
- "robot0_eye_in_hand": {
469
- "pos": [
470
- 0.05,
471
- 0,
472
- 0
473
- ],
474
- "quat": [
475
- 0,
476
- 0.707107,
477
- 0.707107,
478
- 0
479
- ],
480
- "parent_body": "robot0_right_hand"
481
- }
482
- },
483
- "init_robot_base_pos": [
484
- 2.428994021955379,
485
- -0.40065785403197673,
486
- 0.0
487
- ],
488
- "init_robot_base_ori": [
489
- 0.0,
490
- 0.0,
491
- -3.673205103416066e-06
492
- ]
493
- }