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}, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "fruit_bowl_main_group": { - "cls": "Accessory" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "counter_corner_front_group": { - "cls": "Counter" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "stove_left_group": { - "cls": "Stove" - }, - "counter_2_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "fridge_left_group": { - "cls": "FridgeFrenchDoor" - }, - "fridge_housing_left_group": { - "cls": "HousingCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "cab_1_left_group": { - "cls": "SingleCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "cab_micro_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "cab_3_left_group": { - "cls": "HingeCabinet" - }, - "coffee_machine_left_group": { - "cls": "CoffeeMachine" - }, - "salt_shaker_left_group": { - "cls": "Accessory" - }, - "salt_shaker_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "sink_right_group": { - "cls": "Sink" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - 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} - }, - "gen_textures": {}, - "lang": "Pick the milk from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_2_left_group", - "counter": "counter_2_left_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 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"placement": { - "fixture": "counter_main_main_group", - "sample_region_kwargs": { - "ref": "cab_main_main_group", - "min_size": [ - 0.08499978494999998, - 0.08499945004999998, - 0.08499999999999998 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "cup", - "stackable", - "receptacle" - ], - "groups": [ - "all" - ], - "cat": "cup", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_5/model.xml" - }, - "reset_region": { - "size": [ - 0.5500000000000003, - 0.65 - ], - "offset": [ - 1.2249999999999996, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_main_main_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "baguette", - "bread_food", - "food", - "in_container", - "food_set1" - ], - "groups": [ - "all" - ], - "cat": "baguette", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.44, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_1_main_group": { - "cls": "SingleCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_main_main_group": { - "cls": "SingleCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - 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}, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - 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"fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 0.8107029614066479, - -2.0287536828785036, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - 3.1415963267948968 - ] -} \ No newline at end of file diff --git a/extras/episode_000055/model.xml.gz b/extras/episode_000055/model.xml.gz deleted file mode 100644 index 5e4b26a573f508018a748c96cd2bda69309185c1..0000000000000000000000000000000000000000 --- a/extras/episode_000055/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b456ba0ff35d80471c36fe014c02027ae62b2148e1e953bb8f03459c1b2fd1e7 -size 80703 diff --git a/extras/episode_000055/states.npz b/extras/episode_000055/states.npz deleted file mode 100644 index adf66640d382c767b8c5c3d079491d39baf93363..0000000000000000000000000000000000000000 --- a/extras/episode_000055/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:02d616561c5523c59bf1e008534f41c31f2d4c2a4c503df71b76e4195b7a7262 -size 262250 diff --git a/extras/episode_000056/ep_meta.json b/extras/episode_000056/ep_meta.json deleted file mode 100644 index 2f60b3e8be113a39d9e404da689618065f117310..0000000000000000000000000000000000000000 --- a/extras/episode_000056/ep_meta.json +++ /dev/null @@ -1,527 +0,0 @@ -{ - 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"sample_region_kwargs": { - "ref": "shelves_right_group", - "min_size": [ - 0.07853401323801495, - 0.10999823018718757, - 0.0868882212 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "mug", - "receptacle", - "stackable" - ], - "groups": [ - "all" - ], - "cat": "mug", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml" - }, - "reset_region": { - "size": [ - 1.020000000000001, - 0.65 - ], - "offset": [ - 0.4500000000000002, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "shelves_right_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "salt_and_pepper_shaker", - "spice" - ], - "groups": [ - "all" - ], - "cat": "salt_and_pepper_shaker", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/SaltShaker008/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43000000000000005 - ], - "size": [ - 1.0, - 0.4 - ], - "height": 0.41500000000000004, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_1_main_group": { - "cls": "SingleCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "fruit_bowl_main_group": { - "cls": "Accessory" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "counter_corner_front_group": { - "cls": "Counter" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "stove_left_group": { - "cls": "Stove" - }, - "counter_2_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "fridge_left_group": { - "cls": "FridgeFrenchDoor" - }, - "fridge_housing_left_group": { - "cls": "HousingCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "cab_1_left_group": { - "cls": "SingleCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "cab_micro_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "cab_3_left_group": { - "cls": "HingeCabinet" - }, - "coffee_machine_left_group": { - "cls": "CoffeeMachine" - }, - "salt_shaker_left_group": { - "cls": "Accessory" - }, - "salt_shaker_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "sink_right_group": { - "cls": "Sink" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "counter_corner_2_right_group": { - "cls": "Counter" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_right_group": { - "cls": "Dishwasher" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "Drawer" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_2_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "shelves_right_group": { - "cls": "OpenCabinet" - }, - "flower_vase_right_group": { - "cls": "Accessory" - }, - "soap_dispenser_right_group": { - "cls": "Accessory" - }, - "glass_cup_right_group": { - "cls": "Accessory" - }, - "glass_cup_2_right_group": { - "cls": "Accessory" - 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}, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "floor_front_room": { - "cls": "Floor" - }, - "floor_front_backing_room": { - "cls": "Floor" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_1_main_group": { - "cls": "Counter" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "stove_main_group": { - "cls": "Stove" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_1_main_group": { - "cls": "HingeCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - 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}, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_1_main_group_4": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "counter_corner_front_group": { - "cls": "Counter" - }, - "salt_shaker_front_group": { - "cls": "Accessory" - }, - "salt_shaker_front_group_auxiliary_front_group": { - "cls": "Accessory" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "sink_left_group": { - "cls": "Sink" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_right_left_group": { - "cls": "Counter" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_1_left_group_3": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "dishwasher_left_group": { - "cls": "Dishwasher" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "SingleCabinet" - }, - "cab_1_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "plant_left_group": { - "cls": "Accessory" - }, - "soap_dispenser_left_group": { - "cls": "Accessory" - }, - "fruit_bowl_left_group": { - "cls": "Accessory" - }, - "stack_left_right_group_base": { - "cls": "Box" - }, - "stack_left_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_right_group_2": { - "cls": "SingleCabinet" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - 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}, - "side_bottom_right_group_3": { - "cls": "HingeCabinet" - } - }, - "gen_textures": {}, - "lang": "Pick the mayonnaise from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_2_left_group", - "counter": "counter_1_left_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - 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], - "groups": [ - "all" - ], - "cat": "turkey_slice", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice012/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.94, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - 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}, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_1_main_group_4": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "counter_corner_front_group": { - "cls": "Counter" - }, - "salt_shaker_front_group": { - "cls": "Accessory" - }, - "salt_shaker_front_group_auxiliary_front_group": { - "cls": "Accessory" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "sink_left_group": { - "cls": "Sink" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_right_left_group": { - "cls": "Counter" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_1_left_group_3": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "dishwasher_left_group": { - "cls": "Dishwasher" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "SingleCabinet" - }, - "cab_1_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "plant_left_group": { - "cls": "Accessory" - }, - "soap_dispenser_left_group": { - "cls": "Accessory" - }, - "fruit_bowl_left_group": { - "cls": "Accessory" - }, - "stack_left_right_group_base": { - "cls": "Box" - }, - "stack_left_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_right_group_2": { - "cls": "SingleCabinet" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - 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"stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "SingleCabinet" - }, - "microwave_right_group": { - "cls": "Microwave" - }, - "cab_micro_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "SingleCabinet" - }, - "cab_3_right_group": { - "cls": "HingeCabinet" - }, - "toaster_right_group": { - "cls": "Toaster" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "Drawer" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_1_left_group_3": { - "cls": "Drawer" - }, - "stack_1_left_group_4": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "cab_1_left_group": { - "cls": "HingeCabinet" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "coffee_machine_left_group": { - "cls": "CoffeeMachine" - }, - "plant_left_group": { - "cls": "Accessory" - }, - "oil_bottle_left_group": { - "cls": "Accessory" - }, - "salt_shaker_left_group": { - "cls": "Accessory" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "oil_bottle_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "salt_shaker_left_group_auxiliary_left_group": { - "cls": "Accessory" - } - }, - "gen_textures": {}, - "lang": "Pick the eggplant from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_2_right_group", - "counter": "counter_2_right_group" - }, - 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"layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_1_right_group", - "min_size": [ - 0.07374557, - 0.23603438, - 0.04751992 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "pizza_cutter", - "tool", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "pizza_cutter", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter004/model.xml" - }, - "reset_region": { - "size": [ - 1.0, - 0.65 - ], - "offset": [ - -0.5, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_1_right_group", - 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}, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.94, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - 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}, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - 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"cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_3": { - "cls": "Drawer" - }, - "stack_3_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "HingeCabinet" - }, - "fridge_cab_right_group": { - "cls": "HingeCabinet" - }, - "coffee_machine_right_group": { - "cls": "CoffeeMachine" - }, - "toaster_right_group": { - "cls": "Toaster" - } - }, - "gen_textures": {}, - "lang": "Pick the sponge from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_1_right_group", - "counter": "counter_1_right_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 5.608939716478862, - -1.191234141148868, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - -3.673205103416066e-06 - ] -} \ No newline at end of file diff --git a/extras/episode_000095/model.xml.gz b/extras/episode_000095/model.xml.gz deleted file mode 100644 index cfdc4fe6f226cce6ef05c578511a544812d94681..0000000000000000000000000000000000000000 --- a/extras/episode_000095/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a08baca70c3919c36812bce6c9311aab4b70c9305dba524da1f7e0b9b795e96a -size 80806 diff --git a/extras/episode_000095/states.npz b/extras/episode_000095/states.npz deleted file mode 100644 index 7201cd4527b4fafab9f45d9201b50bc415dc720f..0000000000000000000000000000000000000000 --- a/extras/episode_000095/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ac5cda4e0e35e9c1703ae2db022885f4e7c8010fa36fd2a1e5023b9cdb463c13 -size 162005 diff --git a/extras/episode_000096/ep_meta.json b/extras/episode_000096/ep_meta.json deleted file mode 100644 index 836e28daf9df85f017f35d8fd01f6a65b27a064e..0000000000000000000000000000000000000000 --- a/extras/episode_000096/ep_meta.json +++ /dev/null @@ -1,658 +0,0 @@ -{ - "layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - "ref": "cab_2_left_group", - "min_size": [ - 0.08694601483522611, - 0.11999998569488525, - 0.0898801296 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "mug", - "receptacle", - "stackable" - ], - "groups": [ - "all" - ], - "cat": "mug", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_9/model.xml" - }, - "reset_region": { - "size": [ - 0.5000000000000009, - 0.65 - ], - "offset": [ - 0.7499999999999996, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - "ref": "cab_2_left_group", - "min_size": [ - 0.09019603709999995, - 0.08849196269999995, - 0.06244107749999997 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "cupcake", - "sweets", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "cupcake", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_5/model.xml" - }, - "reset_region": { - "size": [ - 0.5000000000000009, - 0.65 - ], - "offset": [ - 0.7499999999999996, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_2_left_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "salt_and_pepper_shaker", - "spice" - ], - "groups": [ - "all" - ], - "cat": "salt_and_pepper_shaker", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/SaltShaker012/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.44, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_1_main_group": { - "cls": "SingleCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_main_main_group": { - "cls": "SingleCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_3": { - "cls": "Drawer" - }, - "stack_3_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "HingeCabinet" - }, - "fridge_cab_right_group": { - "cls": "HingeCabinet" - }, - "coffee_machine_right_group": { - "cls": "CoffeeMachine" - }, - "toaster_right_group": { - "cls": "Toaster" - } - }, - "gen_textures": {}, - "lang": "Pick the mug from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_2_left_group", - "counter": "counter_1_left_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - 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"cls": "Drawer" - }, - "stack_4_main_group_4": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "plant_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "tiered_basket_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "salt_shaker_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "salt_shaker_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "fridge_left_group": { - "cls": "FridgeFrenchDoor" - }, - "fridge_housing_left_group": { - "cls": "HousingCabinet" - }, - "fridge_top_left_group": { - "cls": "HingeCabinet" - }, - "stack_left_left_group_base": { - "cls": "Box" - }, - "stack_left_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_left_group_2": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_base": { - "cls": "Box" - }, - "stack_right_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_2": { - "cls": "SingleCabinet" - }, - "box_left_top_left_group": { - "cls": "Box" - }, - "box_left_bottom_left_group": { - "cls": "Box" - }, - "box_right_top_left_group": { - "cls": "Box" - }, - "box_right_bottom_left_group": { - "cls": "Box" - }, - "sink_right_group": { - "cls": "Sink" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_right_group": { - "cls": "Dishwasher" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - 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"cls": "Box" - }, - "stack_left_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_left_group_2": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_base": { - "cls": "Box" - }, - "stack_right_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_2": { - "cls": "SingleCabinet" - }, - "box_left_top_left_group": { - "cls": "Box" - }, - "box_left_bottom_left_group": { - "cls": "Box" - }, - "box_right_top_left_group": { - "cls": "Box" - }, - "box_right_bottom_left_group": { - "cls": "Box" - }, - "sink_right_group": { - "cls": "Sink" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_right_group": { - "cls": "Dishwasher" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - 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}, - "microwave_right_group": { - "cls": "Microwave" - }, - "cab_micro_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "SingleCabinet" - }, - "cab_3_right_group": { - "cls": "HingeCabinet" - }, - "toaster_right_group": { - "cls": "Toaster" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "Drawer" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_1_left_group_3": { - "cls": "Drawer" - }, - "stack_1_left_group_4": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - 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"cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_1_left_group_3": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "dishwasher_left_group": { - "cls": "Dishwasher" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "SingleCabinet" - }, - "cab_1_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "plant_left_group": { - "cls": "Accessory" - }, - "soap_dispenser_left_group": { - "cls": "Accessory" - }, - "fruit_bowl_left_group": { - "cls": "Accessory" - }, - "stack_left_right_group_base": { - "cls": "Box" - }, - "stack_left_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_right_group_2": { - "cls": "SingleCabinet" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - 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"layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_2_right_group", - "min_size": [ - 0.07374557, - 0.23603438, - 0.04751992 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "pizza_cutter", - "tool", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "pizza_cutter", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter004/model.xml" - }, - "reset_region": { - "size": [ - 1.0, - 0.65 - ], - "offset": [ - 0.5, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_2_right_group", - 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}, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - 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}, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - 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"cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - 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}, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - 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}, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - 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}, - "cab_2_main_group": { - "cls": "HingeCabinet" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "sink_main_group": { - "cls": "Sink" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_main_main_group": { - "cls": "Counter" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "Drawer" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_1_main_group_4": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "dishwasher_main_group": { - "cls": "Dishwasher" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "SingleCabinet" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "plant_main_group": { - "cls": "Accessory" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "soap_dispenser_main_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_left_right_group": { - "cls": "Counter" - }, - "stove_right_group": { - "cls": "Stove" - }, - "counter_2_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeBottomFreezer" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_2_right_group_3": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_3": { - "cls": "Drawer" - }, - "stack_3_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "SingleCabinet" - }, - "microwave_right_group": { - "cls": "Microwave" - }, - "cab_micro_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "SingleCabinet" - }, - "shelves_right_group": { - "cls": "OpenCabinet" - }, - "cab_3_right_group": { - "cls": "HingeCabinet" - }, - "toaster_right_group": { - "cls": "Toaster" - }, - "coffee_machine_right_group": { - "cls": "CoffeeMachine" - }, - "oil_bottle_right_group": { - "cls": "Accessory" - }, - "tiered_basket_right_group": { - "cls": "Accessory" - }, - "jar_right_group": { - "cls": "Accessory" - }, - "salt_shaker_right_group": { - "cls": "Accessory" - }, - "paprika_right_group": { - "cls": "Accessory" - }, - "turmeric_right_group": { - "cls": "Accessory" - }, - "oil_bottle_right_group_auxiliary_right_group": { - "cls": "Accessory" - }, - "jar_right_group_auxiliary_right_group": { - "cls": "Accessory" - }, - "salt_shaker_right_group_auxiliary_right_group": { - "cls": "Accessory" - } - }, - "gen_textures": {}, - "lang": "Pick the kiwi from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_1_right_group", - "counter": "counter_1_right_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 4.385649408137952, - -0.999579787315105, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - -3.673205103416066e-06 - ] -} \ No newline at end of file diff --git a/extras/episode_000162/model.xml.gz b/extras/episode_000162/model.xml.gz deleted file mode 100644 index 7920e238c989ab7ff1d1f6558f40f259884cae88..0000000000000000000000000000000000000000 --- a/extras/episode_000162/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:899cbfc938e633a437cc3964607ef2e8afd621884fccaec8c1382a5193f0ff88 -size 52446 diff --git a/extras/episode_000162/states.npz b/extras/episode_000162/states.npz deleted file mode 100644 index a46874201e32c3ef1106bb96fd9956bbd12851d5..0000000000000000000000000000000000000000 --- a/extras/episode_000162/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9f6530c0c1bf096495e89a9bd64e33ea455646a783bf05bbf4d6f0a79b6b0552 -size 180468 diff --git a/extras/episode_000163/ep_meta.json b/extras/episode_000163/ep_meta.json deleted file mode 100644 index 59418f4be76314c31332beaf85b29384c8f79592..0000000000000000000000000000000000000000 --- a/extras/episode_000163/ep_meta.json +++ /dev/null @@ -1,661 +0,0 @@ -{ - "layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - "ref": "shelves_left_group", - "min_size": [ - 0.054828791999999994, - 0.05597112, - 0.037149032 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "cookie_dough_ball", - "sweets", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "cookie_dough_ball", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall011/model.xml" - }, - "reset_region": { - "size": [ - 1.5, - 0.65 - ], - "offset": [ - -0.25, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - "ref": "shelves_left_group", - "min_size": [ - 0.11485933659999999, - 0.11472662889999999, - 0.0287040299 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "waffle", - "sweets", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "waffle", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_3/model.xml" - }, - "reset_region": { - "size": [ - 1.5, - 0.65 - ], - "offset": [ - -0.25, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "shelves_left_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "lemon_wedge", - "vegetable", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "lemon_wedge", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge008/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43000000000000005 - ], - "size": [ - 1.5, - 0.4 - ], - "height": 0.41500000000000004, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_1_main_group": { - "cls": "SingleCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_main_main_group": { - "cls": "SingleCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - 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}, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - 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"fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 4.662324172343523, - -0.8292557828574891, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - 1.5707963267948966 - ] -} \ No newline at end of file diff --git a/extras/episode_000179/model.xml.gz b/extras/episode_000179/model.xml.gz deleted file mode 100644 index dec23c7a6b640f483ee52ba047b5cfd0d560b4cd..0000000000000000000000000000000000000000 --- a/extras/episode_000179/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:54ab5c730bddb28465fdfe9a01171ecb8140c572ee80d53c5eed3670796bc608 -size 80916 diff --git a/extras/episode_000179/states.npz b/extras/episode_000179/states.npz deleted file mode 100644 index 95a5de12f46c67f321dea2a407234b88b63b98b2..0000000000000000000000000000000000000000 --- a/extras/episode_000179/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a2a3ef0d1fd9ef9cc9bc0eaca007031c68c1d0855a72a55a02dcc251566d462f -size 172721 diff --git a/extras/episode_000180/ep_meta.json b/extras/episode_000180/ep_meta.json deleted file mode 100644 index 28773eb3d43661e436f5573c7fd2492a7c7f36f5..0000000000000000000000000000000000000000 --- a/extras/episode_000180/ep_meta.json +++ /dev/null @@ -1,586 +0,0 @@ -{ - "layout_id": 10, - "style_id": 10, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_front_group", - "sample_region_kwargs": { - "ref": "shelves_front_group", - "min_size": [ - 0.05987461299413682, - 0.08473327675669531, - 0.02488372325999999 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "sponge", - "cleaner" - ], - "groups": [ - "all" - ], - "cat": "sponge", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_4/model.xml" - }, - "reset_region": { - "size": [ - 0.7649999999999996, - 0.65 - ], - "offset": [ - -0.011250000000000204, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_front_group", - "sample_region_kwargs": { - "ref": "shelves_front_group", - "min_size": [ - 0.25519503, - 0.11328764999999999, - 0.034692970000000004 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "ice_cube_tray", - "receptacle" - ], - "groups": [ - "all" - ], - "cat": "ice_cube_tray", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray007/model.xml" - }, - "reset_region": { - "size": [ - 0.7649999999999996, - 0.65 - ], - "offset": [ - -0.011250000000000204, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "shelves_front_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "cinnamon", - "spice" - ], - "groups": [ - "all" - ], - "cat": "cinnamon", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon008/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43000000000000005 - ], - "size": [ - 0.765, - 0.4 - ], - "height": 0.41500000000000004, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_front_room": { - "cls": "Wall" - }, - "wall_front_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_left_2_room": { - "cls": "Wall" - }, - "wall_2_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "floor_front_room": { - "cls": "Floor" - }, - "floor_front_backing_room": { - "cls": "Floor" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_1_main_group": { - "cls": "Counter" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "stove_main_group": { - "cls": "Stove" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_1_main_group": { - "cls": "HingeCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "right_corner_box_main_group": { - "cls": "Box" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "Drawer" - }, - "stack_4_main_group_2": { - "cls": "Drawer" - }, - "stack_4_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_4": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "plant_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "tiered_basket_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "salt_shaker_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "salt_shaker_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "fridge_left_group": { - "cls": "FridgeFrenchDoor" - }, - "fridge_housing_left_group": { - "cls": "HousingCabinet" - }, - "fridge_top_left_group": { - "cls": "HingeCabinet" - }, - "stack_left_left_group_base": { - "cls": "Box" - }, - "stack_left_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_left_group_2": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_base": { - "cls": "Box" - }, - "stack_right_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_2": { - "cls": "SingleCabinet" - }, - "box_left_top_left_group": { - "cls": "Box" - }, - "box_left_bottom_left_group": { - "cls": "Box" - }, - "box_right_top_left_group": { - "cls": "Box" - }, - "box_right_bottom_left_group": { - "cls": "Box" - }, - "sink_right_group": { - "cls": "Sink" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_right_group": { - "cls": "Dishwasher" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - 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}, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_1_left_group_3": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "dishwasher_left_group": { - "cls": "Dishwasher" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "SingleCabinet" - }, - "cab_1_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "plant_left_group": { - "cls": "Accessory" - }, - "soap_dispenser_left_group": { - "cls": "Accessory" - }, - "fruit_bowl_left_group": { - "cls": "Accessory" - }, - "stack_left_right_group_base": { - "cls": "Box" - }, - "stack_left_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_right_group_2": { - "cls": "SingleCabinet" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - 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"cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_1_main_group_4": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "counter_corner_front_group": { - "cls": "Counter" - }, - "salt_shaker_front_group": { - "cls": "Accessory" - }, - "salt_shaker_front_group_auxiliary_front_group": { - "cls": "Accessory" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "sink_left_group": { - "cls": "Sink" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_right_left_group": { - "cls": "Counter" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_1_left_group_3": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "dishwasher_left_group": { - "cls": "Dishwasher" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "SingleCabinet" - }, - "cab_1_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "plant_left_group": { - "cls": "Accessory" - }, - "soap_dispenser_left_group": { - "cls": "Accessory" - }, - "fruit_bowl_left_group": { - "cls": "Accessory" - }, - "stack_left_right_group_base": { - "cls": "Box" - }, - "stack_left_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_right_group_2": { - "cls": "SingleCabinet" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "fridge_top_right_group": { - "cls": "HingeCabinet" - }, - "stack_right_right_group_base": { - "cls": "Box" - }, - "stack_right_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_right_right_group_2": { - "cls": "SingleCabinet" - }, - "cab_top_corner_right_group": { - "cls": "Box" - }, - "bottom_corner_right_group": { - "cls": "Box" - }, - "bottom_right_group_base": { - "cls": "Box" - }, - "bottom_right_group_1": { - "cls": "Drawer" - }, - "bottom_right_group_2": { - "cls": "Drawer" - }, - "oven_right_group": { - "cls": "Oven" - }, - "oven_housing_right_group": { - "cls": "HousingCabinet" - }, - "microwave_right_group": { - "cls": "Microwave" - }, - "micro_housing_right_group": { - "cls": "HousingCabinet" - }, - "top_right_group": { - "cls": "HingeCabinet" - }, - "side_bottom_right_group_base": { - "cls": "Box" - }, - "side_bottom_right_group_1": { - "cls": "Drawer" - }, - "side_bottom_right_group_2": { - "cls": "Drawer" - }, - "side_bottom_right_group_3": { - "cls": "HingeCabinet" - } - }, - "gen_textures": {}, - "lang": "Pick the jug wide opening from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "side_bottom_right_group_3", - "counter": "counter_1_front_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 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"layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_main_main_group", - "sample_region_kwargs": { - "ref": "shelves_main_group", - "min_size": [ - 0.06354934677, - 0.0945, - 0.0633909969 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "avocado", - "vegetable", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "avocado", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_6/model.xml" - }, - "reset_region": { - "size": [ - 1.2817948850658278, - 0.65 - ], - "offset": [ - 0.5, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_main_main_group", - "sample_region_kwargs": { - "ref": "shelves_main_group", - "min_size": [ - 0.09095205445, - 0.09847478692499999, - 0.0411306223325 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "donut", - "sweets", - "pastry", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "donut", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_9/model.xml" - }, - "reset_region": { - "size": [ - 1.2817948850658278, - 0.65 - ], - "offset": [ - 0.5, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "shelves_main_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "broccoli", - "vegetable", - "food", - "in_container", - "oven_ready" - ], - "groups": [ - "all" - ], - "cat": "broccoli", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43000000000000005 - ], - "size": [ - 0.95, - 0.4 - ], - "height": 0.41500000000000004, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_1_main_group": { - "cls": "SingleCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_main_main_group": { - "cls": "SingleCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - 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"cls": "Accessory" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "digital_scale_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - 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"layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_main_group", - "sample_region_kwargs": { - "ref": "cab_1_main_group", - "min_size": [ - 0.055642115199999974, - 0.055642115199999974, - 0.1860240073599999 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "beer", - "drink", - "alcohol" - ], - "groups": [ - "all" - ], - "cat": "beer", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_9/model.xml" - }, - "reset_region": { - "size": [ - 0.40000000000000013, - 0.65 - ], - "offset": [ - -0.7999999999999999, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_main_group", - "sample_region_kwargs": { - "ref": "cab_1_main_group", - "min_size": [ - 0.032571642000000005, - 0.29566243799999997, - 0.030676332 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "kebab_skewer", - "cooked_food", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "kebab_skewer", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer004/model.xml" - }, - "reset_region": { - "size": [ - 0.40000000000000013, - 0.65 - ], - "offset": [ - -0.7999999999999999, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_1_main_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "peach", - "fruit", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "peach", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_6/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.44, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_1_main_group": { - "cls": "SingleCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_main_main_group": { - "cls": "SingleCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - 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}, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - 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}, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - 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"all", - "pickle_slice" - ], - "groups": [ - "all" - ], - "cat": "pickle_slice", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pickle_slice/PickleSlice010/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43000000000000005 - ], - "size": [ - 0.95, - 0.4 - ], - "height": 0.41500000000000004, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - 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}, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - 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"paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_3": { - "cls": "Drawer" - }, - "stack_3_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "HingeCabinet" - }, - "fridge_cab_right_group": { - "cls": "HingeCabinet" - }, - "coffee_machine_right_group": { - "cls": "CoffeeMachine" - }, - "toaster_right_group": { - "cls": "Toaster" - } - }, - "gen_textures": {}, - "lang": "Pick the honey bottle from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_1_right_group", - "counter": "counter_1_right_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 5.569112998551469, - -1.1022010588577025, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - -3.673205103416066e-06 - ] -} \ No newline at end of file diff --git a/extras/episode_000275/model.xml.gz b/extras/episode_000275/model.xml.gz deleted file mode 100644 index 3cf1ea4de3b625a072834964b615355d0083daae..0000000000000000000000000000000000000000 --- a/extras/episode_000275/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8e60945f1fa3a77a6ef2e97e398757b10926f201a3d0f370d535661c31763bc0 -size 80985 diff --git a/extras/episode_000275/states.npz b/extras/episode_000275/states.npz deleted file mode 100644 index 22247d86d0baa06c723aa4c63bbc3c175bae1a14..0000000000000000000000000000000000000000 --- a/extras/episode_000275/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:86122d77982cd22c55b3fe7fef3626423fdef909e47f2fb9b91d62924b9ff96d -size 297306 diff --git a/extras/episode_000276/ep_meta.json b/extras/episode_000276/ep_meta.json deleted file mode 100644 index 21a6a1c56b71276827e11db473906fa3c62ac19d..0000000000000000000000000000000000000000 --- a/extras/episode_000276/ep_meta.json +++ /dev/null @@ -1,511 +0,0 @@ -{ - 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"sample_region_kwargs": { - "ref": "cab_2_main_group", - "min_size": [ - 0.17623060000000002, - 0.100193152, - 0.0483248 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "tupperware", - "receptacle" - ], - "groups": [ - "all" - ], - "cat": "tupperware", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml" - }, - "reset_region": { - "size": [ - 1.0, - 0.65 - ], - "offset": [ - 1.4, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_2_main_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "mayonnaise", - "condiment" - ], - "groups": [ - "all" - ], - "cat": "mayonnaise", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise011/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.94, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "bottom_main_group_base": { - "cls": "Box" - }, - "bottom_main_group_1": { - "cls": "Drawer" - }, - "bottom_main_group_2": { - "cls": "Drawer" - }, - "oven_main_group": { - "cls": "Oven" - }, - "oven_housing_main_group": { - "cls": "HousingCabinet" - }, - "microwave_main_group": { - "cls": "Microwave" - }, - "micro_housing_main_group": { - "cls": "HousingCabinet" - }, - "top_main_group": { - "cls": "HingeCabinet" - }, - "fridge_main_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_main_group": { - "cls": "HousingCabinet" - }, - "fridge_top_main_group": { - "cls": "HingeCabinet" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_2_main_group": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_4_main_group_2": { - "cls": "Drawer" - }, - "stack_4_main_group_3": { - "cls": "Drawer" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "Drawer" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "stack_6_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_4": { - "cls": "Drawer" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "digital_scale_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_left_island_group_base": { - "cls": "Box" - }, - "island_cab_left_island_group_1": { - "cls": "Drawer" - }, - "island_cab_left_island_group_2": { - "cls": "Drawer" - }, - "island_cab_left_island_group_3": { - "cls": "Drawer" - }, - "island_cab_left_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - } - }, - "gen_textures": {}, - "lang": "Pick the sweet potato from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_2_main_group", - "counter": "counter_main_main_group" - 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"layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - "ref": "shelves_left_group", - "min_size": [ - 0.06714620690000002, - 0.06743822410000001, - 0.11622103205000003 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "coffee_cup", - "drink" - ], - "groups": [ - "all" - ], - "cat": "coffee_cup", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_6/model.xml" - }, - "reset_region": { - "size": [ - 1.5, - 0.65 - ], - "offset": [ - -0.25, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - 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"cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_3": { - "cls": "Drawer" - }, - "stack_3_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "HingeCabinet" - }, - "fridge_cab_right_group": { - "cls": "HingeCabinet" - }, - "coffee_machine_right_group": { - "cls": "CoffeeMachine" - }, - "toaster_right_group": { - "cls": "Toaster" - } - }, - "gen_textures": {}, - "lang": "Pick the syrup bottle from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_1_right_group", - "counter": "counter_1_right_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 5.584090670536441, - -1.0729396093301091, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - -3.673205103416066e-06 - ] -} \ No newline at end of file diff --git a/extras/episode_000290/model.xml.gz b/extras/episode_000290/model.xml.gz deleted file mode 100644 index 93bd14bbb5775dd81672e0b389741fd708dca3f0..0000000000000000000000000000000000000000 --- a/extras/episode_000290/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6311bc7df302810753ee5a9777732eadac2ff824b21f9476c5b2815096cdce7c -size 80647 diff --git a/extras/episode_000290/states.npz b/extras/episode_000290/states.npz deleted file mode 100644 index aad4f56b05e5bb6915b52b4b0ab5b1d35ff8544f..0000000000000000000000000000000000000000 --- a/extras/episode_000290/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:08bf5bccea9ed6d2221e5f892e727fafc14f469ee653639916ca585b8c74ba7c -size 449482 diff --git a/extras/episode_000291/ep_meta.json b/extras/episode_000291/ep_meta.json deleted file mode 100644 index e6e11c9e4c14007a1cc753c1ef964588924a1d08..0000000000000000000000000000000000000000 --- a/extras/episode_000291/ep_meta.json +++ /dev/null @@ -1,507 +0,0 @@ -{ - "layout_id": 2, - "style_id": 2, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_main_main_group", - "sample_region_kwargs": { - "ref": "cab_2_main_group", - "min_size": [ - 0.05615706712, - 0.05765544707999999, - 0.15359830947999997 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "bottled_water", - "drink" - ], - "groups": [ - "all" - ], - "cat": "bottled_water", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_6/model.xml" - }, - "reset_region": { - "size": [ - 1.0, - 0.65 - ], - "offset": [ - 1.4, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_main_main_group", - "sample_region_kwargs": { - "ref": "cab_2_main_group", - "min_size": [ - 0.135414501, - 0.10685927649999999, - 0.01644207 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "turkey_slice" - ], - "groups": [ - "all" - ], - "cat": "turkey_slice", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice010/model.xml" - }, - "reset_region": { - "size": [ - 1.0, - 0.65 - ], - "offset": [ - 1.4, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_2_main_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "bagged_food", - "packaged_food" - ], - "groups": [ - "all" - ], - "cat": "bagged_food", - "split": "test", - 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"stool_3_room": { - "cls": "Stool" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "bottom_main_group_base": { - "cls": "Box" - }, - "bottom_main_group_1": { - "cls": "Drawer" - }, - "bottom_main_group_2": { - "cls": "Drawer" - }, - "oven_main_group": { - "cls": "Oven" - }, - "oven_housing_main_group": { - "cls": "HousingCabinet" - }, - "microwave_main_group": { - "cls": "Microwave" - }, - "micro_housing_main_group": { - "cls": "HousingCabinet" - }, - "top_main_group": { - "cls": "HingeCabinet" - }, - "fridge_main_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_main_group": { - "cls": "HousingCabinet" - }, - "fridge_top_main_group": { - "cls": "HingeCabinet" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_2_main_group": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_4_main_group_2": { - "cls": "Drawer" - }, - "stack_4_main_group_3": { - "cls": "Drawer" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "Drawer" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "stack_6_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_4": { - "cls": "Drawer" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "digital_scale_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - 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}, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "floor_front_room": { - "cls": "Floor" - }, - "floor_front_backing_room": { - "cls": "Floor" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_1_main_group": { - "cls": "Counter" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "stove_main_group": { - "cls": "Stove" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_1_main_group": { - "cls": "HingeCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "right_corner_box_main_group": { - "cls": "Box" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "Drawer" - }, - "stack_4_main_group_2": { - "cls": "Drawer" - }, - "stack_4_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_4": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "plant_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "tiered_basket_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "salt_shaker_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "salt_shaker_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "fridge_left_group": { - "cls": "FridgeFrenchDoor" - }, - "fridge_housing_left_group": { - "cls": "HousingCabinet" - }, - "fridge_top_left_group": { - "cls": "HingeCabinet" - }, - "stack_left_left_group_base": { - "cls": "Box" - }, - "stack_left_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_left_group_2": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_base": { - "cls": "Box" - }, - "stack_right_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_2": { - "cls": "SingleCabinet" - }, - "box_left_top_left_group": { - "cls": "Box" - }, - "box_left_bottom_left_group": { - "cls": "Box" - }, - "box_right_top_left_group": { - "cls": "Box" - }, - "box_right_bottom_left_group": { - "cls": "Box" - }, - "sink_right_group": { - "cls": "Sink" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_right_group": { - "cls": "Dishwasher" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "SingleCabinet" - }, - "soap_dispenser_right_group": { - "cls": "Accessory" - }, - "counter_corner_1_front_group": { - "cls": "Counter" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "stack_1_front_group_base": { - "cls": "Box" - }, - "stack_1_front_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_front_group_2": { - "cls": "Drawer" - }, - "shelves_front_group": { - "cls": "OpenCabinet" - }, - "bottom_front_group_base": { - "cls": "Box" - }, - "bottom_front_group_1": { - "cls": "Drawer" - }, - "bottom_front_group_2": { - "cls": "Drawer" - }, - "cab_middle_front_group": { - "cls": "HingeCabinet" - }, - "microwave_front_group": { - "cls": "Microwave" - }, - "micro_housing_front_group": { - "cls": "HousingCabinet" - }, - "top_front_group": { - "cls": "HingeCabinet" - }, - "utensil_set_front_group": { - "cls": "Accessory" - }, - "counter_1_dining_area_group": { - "cls": "Counter" - }, - "paper_towel_dining_area_group": { - "cls": "Accessory" - }, - "fruit_bowl_dining_area_group": { - "cls": "Accessory" - } - }, - "gen_textures": {}, - "lang": "Pick the wooden spoon from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_1_right_group", - "counter": "counter_1_right_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 5.141867968268685, - -1.628848873643359, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - -3.673205103416066e-06 - ] -} \ No newline at end of file diff --git a/extras/episode_000297/model.xml.gz b/extras/episode_000297/model.xml.gz deleted file mode 100644 index 3fb0831640eca54fcab07a642b4526a7a0574ebf..0000000000000000000000000000000000000000 --- a/extras/episode_000297/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e6c4a6554c13046efdb10b6698bde158f92282bd67c8e219197a9ae6b99a1a98 -size 62833 diff --git a/extras/episode_000297/states.npz b/extras/episode_000297/states.npz deleted file mode 100644 index 88786a62fa15373e3885881b03e83c3bbd87c063..0000000000000000000000000000000000000000 --- a/extras/episode_000297/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b17398ae5f90aaaea27749e0c5dfe436e65c22756ea95e2484d5a18bed817430 -size 240157 diff --git a/extras/episode_000298/ep_meta.json b/extras/episode_000298/ep_meta.json deleted file mode 100644 index a4ade0ff73251ebe382d36d20e3a6960a88b20b3..0000000000000000000000000000000000000000 --- a/extras/episode_000298/ep_meta.json +++ /dev/null @@ -1,583 +0,0 @@ -{ - "layout_id": 9, - "style_id": 9, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - "ref": "cab_2_left_group", - "min_size": [ - 0.06129839393999998, - 0.06129869489999998, - 0.08549999743499997 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "canned_food", - "packaged_food" - ], - "groups": [ - "all" - ], - "cat": "canned_food", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_5/model.xml" - }, - "reset_region": { - "size": [ - 0.5000000000000004, - 0.65 - ], - "offset": [ - 1.2499999999999998, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - "ref": "cab_2_left_group", - "min_size": [ - 0.030449257499999997, - 0.264480722, - 0.018787408999999998 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "tongs", - "tool", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "tongs", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs010/model.xml" - }, - "reset_region": { - "size": [ - 0.5000000000000004, - 0.65 - ], - "offset": [ - 1.2499999999999998, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_2_left_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "sandwich_bread", - "bread_food", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "sandwich_bread", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread011/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.44, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_1_main_group": { - "cls": "HingeCabinet" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_2_main_group": { - "cls": "SingleCabinet" - }, - "shelves_1_main_group": { - "cls": "OpenCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_2_main_group": { - "cls": "OpenCabinet" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "Drawer" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_1_main_group_4": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "counter_corner_front_group": { - "cls": "Counter" - }, - "salt_shaker_front_group": { - "cls": "Accessory" - }, - "salt_shaker_front_group_auxiliary_front_group": { - "cls": "Accessory" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "sink_left_group": { - "cls": "Sink" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_right_left_group": { - "cls": "Counter" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_1_left_group_3": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "dishwasher_left_group": { - "cls": "Dishwasher" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "SingleCabinet" - }, - "cab_1_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "plant_left_group": { - "cls": "Accessory" - }, - "soap_dispenser_left_group": { - "cls": "Accessory" - }, - "fruit_bowl_left_group": { - "cls": "Accessory" - }, - "stack_left_right_group_base": { - "cls": "Box" - }, - "stack_left_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_right_group_2": { - "cls": "SingleCabinet" - }, - "fridge_right_group": { - 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], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 3.991726746883617, - -0.7900985232025285, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - 1.5707963267948966 - ] -} \ No newline at end of file diff --git a/extras/episode_000310/model.xml.gz b/extras/episode_000310/model.xml.gz deleted file mode 100644 index 6f6afaae9b80321375ba4cbaa28c45e5eda285bd..0000000000000000000000000000000000000000 --- a/extras/episode_000310/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5c48e0ef6b2d644f1f4e262a30c28c45854cf4809453cdba0b6477c48ad20861 -size 52742 diff --git a/extras/episode_000310/states.npz b/extras/episode_000310/states.npz deleted file mode 100644 index ec2991beaedca53ee58134d88027c45a4311dec2..0000000000000000000000000000000000000000 --- a/extras/episode_000310/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6a318f869f2d148acf4a1a4b8dc7619174fc2ac020e7ec5754d16c6a0ed8dc4b -size 208500 diff --git a/extras/episode_000311/ep_meta.json b/extras/episode_000311/ep_meta.json deleted file mode 100644 index 7874bc14398d5d65647a67169f1902662171f9a7..0000000000000000000000000000000000000000 --- a/extras/episode_000311/ep_meta.json +++ /dev/null @@ -1,503 +0,0 @@ -{ - 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] -} \ No newline at end of file diff --git a/extras/episode_000316/model.xml.gz b/extras/episode_000316/model.xml.gz deleted file mode 100644 index 5ee94cff52bed5808fe87b1e6f60e58f8f04b816..0000000000000000000000000000000000000000 --- a/extras/episode_000316/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2b0b6afafc1e69feff7d98643e05d724418686abff92697d7fec6c9d28b5adda -size 66269 diff --git a/extras/episode_000316/states.npz b/extras/episode_000316/states.npz deleted file mode 100644 index 1cfb92a6732ff59c508961702178229653a64384..0000000000000000000000000000000000000000 --- a/extras/episode_000316/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d73a77c23f6036dd69ba87410279542942d88a36ab7fc42358b3d54496bdfcb0 -size 218425 diff --git a/extras/episode_000317/ep_meta.json b/extras/episode_000317/ep_meta.json deleted file mode 100644 index c9dcea5deebb1b0c222855703645d36d93247844..0000000000000000000000000000000000000000 --- a/extras/episode_000317/ep_meta.json +++ /dev/null @@ -1,469 +0,0 @@ -{ - 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}, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_1_main_group_4": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - 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"layout_id": 9, - "style_id": 9, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_main_main_group", - "sample_region_kwargs": { - "ref": "shelves_1_main_group", - "min_size": [ - 0.049955, - 0.04974, - 0.1744585375 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "mustard", - "condiment" - ], - "groups": [ - "all" - ], - "cat": "mustard", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard008/model.xml" - }, - "reset_region": { - "size": [ - 0.6000000000000005, - 0.65 - ], - "offset": [ - 1.1999999999999997, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_main_main_group", - "sample_region_kwargs": { - 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"sample_region_kwargs": { - "ref": "cab_1_right_group", - "min_size": [ - 0.06299999999999999, - 0.057233763719999976, - 0.04168858805999998 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "kiwi", - "fruit", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "kiwi", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_6/model.xml" - }, - "reset_region": { - "size": [ - 0.4999999999999998, - 0.65 - ], - "offset": [ - -1.1102230246251565e-16, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_1_right_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "tupperware", - "receptacle" - ], - "groups": [ - "all" - ], - "cat": "tupperware", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.44, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - 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"cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - 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"cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_left_island_group_base": { - "cls": "Box" - }, - "island_cab_left_island_group_1": { - "cls": "Drawer" - }, - "island_cab_left_island_group_2": { - "cls": "Drawer" - }, - "island_cab_left_island_group_3": { - "cls": "Drawer" - }, - "island_cab_left_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - } - }, - "gen_textures": {}, - "lang": "Pick the cookie dough ball from the counter and place it in the cabinet.", - 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"coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "digital_scale_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_left_island_group_base": { - "cls": "Box" - }, - "island_cab_left_island_group_1": { - "cls": "Drawer" - }, - "island_cab_left_island_group_2": { - "cls": "Drawer" - }, - "island_cab_left_island_group_3": { - "cls": "Drawer" - }, - "island_cab_left_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - } - }, - "gen_textures": {}, - "lang": "Pick the peeler from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_main_main_group", - "counter": "counter_main_main_group" - 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"layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_1_right_group", - "min_size": [ - 0.09936012999999999, - 0.08535648, - 0.18538991 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "soap_dispenser", - "cleaner" - ], - "groups": [ - "all" - ], - "cat": "soap_dispenser", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser008/model.xml" - }, - "reset_region": { - "size": [ - 1.0, - 0.65 - ], - "offset": [ - -0.5, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - 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], - "cat": "ice_cube", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.94, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "stovetop_main_group": { - "cls": "Stovetop" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_1_main_group": { - "cls": "SingleCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_main_main_group": { - "cls": "SingleCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_base": { - "cls": "Box" - }, - "stack_5_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_5_main_group_2": { - "cls": "Drawer" - }, - "stack_5_main_group_3": { - "cls": "Drawer" - }, - "stack_6_main_group_base": { - "cls": "Box" - }, - "stack_6_main_group_1": { - "cls": "SingleCabinet" - }, - "stack_6_main_group_2": { - "cls": "Drawer" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - 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}, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_3": { - "cls": "Drawer" - }, - "stack_3_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "HingeCabinet" - }, - "fridge_cab_right_group": { - "cls": "HingeCabinet" - }, - "coffee_machine_right_group": { - "cls": "CoffeeMachine" - }, - "toaster_right_group": { - "cls": "Toaster" - } - }, - "gen_textures": {}, - "lang": "Pick the reamer from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_1_right_group", - "counter": "counter_1_right_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 0.95 - ], - "quat": [ - 0.6088936924934387, - 0.3814677894115448, - -0.3673907518386841, - -0.5905545353889465 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_eye_in_hand": { - "pos": [ - 0.05, - 0, - 0 - ], - "quat": [ - 0, - 0.707107, - 0.707107, - 0 - ], - "parent_body": "robot0_right_hand" - } - }, - "init_robot_base_pos": [ - 5.603192264797903, - -1.326774592944677, - 0.0 - ], - "init_robot_base_ori": [ - 0.0, - 0.0, - -3.673205103416066e-06 - ] -} \ No newline at end of file diff --git a/extras/episode_000442/model.xml.gz b/extras/episode_000442/model.xml.gz deleted file mode 100644 index 76763c78cf8d8a233e3752f659d8d4bc9ff059f1..0000000000000000000000000000000000000000 --- a/extras/episode_000442/model.xml.gz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1ff24f8b343b219fe957fc0997901bfef8d7c84162c5f4c47059a1784d67de91 -size 80559 diff --git a/extras/episode_000442/states.npz b/extras/episode_000442/states.npz deleted file mode 100644 index 7e66a6cb2c2ed4829e3f7b9432079c411e1d1457..0000000000000000000000000000000000000000 --- a/extras/episode_000442/states.npz +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:663b99608e7778f66912e140563014be962abcc54ac80a92e95736922e9414d1 -size 264020 diff --git a/extras/episode_000443/ep_meta.json b/extras/episode_000443/ep_meta.json deleted file mode 100644 index 999c83651be617885e5941cc188e97babe6bc699..0000000000000000000000000000000000000000 --- a/extras/episode_000443/ep_meta.json +++ /dev/null @@ -1,533 +0,0 @@ -{ - "layout_id": 8, - "style_id": 8, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_1_right_group", - "min_size": [ - 0.05757184129999999, - 0.05529299299999998, - 0.17137838379999995 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "milk", - "drink", - "dairy", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "milk", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_7/model.xml" - }, - "reset_region": { - "size": [ - 1.1100000000000003, - 0.65 - ], - "offset": [ - 0.4949999999999999, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_1_right_group", - "min_size": [ - 0.060060378420000005, - 0.06300000000000001, - 0.06097112406 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "apple", - "fruit", - "food", - "in_container", - "food_set1", - "group1" - ], - "groups": [ - "all" - ], - "cat": "apple", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_9/model.xml" - }, - "reset_region": { - "size": [ - 1.1100000000000003, - 0.65 - ], - "offset": [ - 0.4949999999999999, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_1_right_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "chips", - "packaged_food" - ], - "groups": [ - "all" - ], - "cat": "chips", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chips/chips_6/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.94, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "counter_corner_main_group": { - "cls": "Counter" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_1_main_group": { - "cls": "SingleCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "Drawer" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_3_main_group_4": { - "cls": "Drawer" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "fruit_bowl_main_group": { - "cls": "Accessory" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "counter_corner_front_group": { - "cls": "Counter" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "stove_left_group": { - "cls": "Stove" - }, - "counter_2_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "fridge_left_group": { - "cls": "FridgeFrenchDoor" - }, - "fridge_housing_left_group": { - "cls": "HousingCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "cab_1_left_group": { - "cls": "SingleCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "cab_micro_left_group": { - "cls": "HingeCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "cab_3_left_group": { - "cls": "HingeCabinet" - }, - "coffee_machine_left_group": { - "cls": "CoffeeMachine" - }, - "salt_shaker_left_group": { - "cls": "Accessory" - }, - "salt_shaker_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "sink_right_group": { - "cls": "Sink" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "counter_corner_2_right_group": { - "cls": "Counter" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_right_group": { - "cls": "Dishwasher" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "Drawer" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_2_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "shelves_right_group": { - "cls": "OpenCabinet" - }, - "flower_vase_right_group": { - "cls": "Accessory" - }, - "soap_dispenser_right_group": { - "cls": "Accessory" - }, - "glass_cup_right_group": { - "cls": "Accessory" - }, - "glass_cup_2_right_group": { - "cls": "Accessory" - }, - "paprika_right_group": { - 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"layout_id": 7, - "style_id": 7, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - "ref": "shelves_left_group", - "min_size": [ - 0.04775444279999999, - 0.040755249599999994, - 0.12120800999999998 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "boxed_drink", - "drink" - ], - "groups": [ - "all" - ], - "cat": "boxed_drink", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_5/model.xml" - }, - "reset_region": { - "size": [ - 1.5, - 0.65 - ], - "offset": [ - -0.25, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_left_group", - "sample_region_kwargs": { - 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"cls": "Accessory" - }, - "paper_towel_main_group": { - "cls": "Accessory" - }, - "utensil_set_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - 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"shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "right_corner_box_main_group": { - "cls": "Box" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "Drawer" - }, - "stack_4_main_group_2": { - "cls": "Drawer" - }, - "stack_4_main_group_3": { - 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}, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "digital_scale_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - 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"cls": "HingeCabinet" - } - }, - "gen_textures": {}, - "lang": "Pick the condiment bottle from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_1_left_group", - "counter": "counter_1_left_group" - }, - "cam_configs": { - "robot0_agentview_center": { - "pos": [ - -0.6, - 0.0, - 1.15 - ], - "quat": [ - 0.636945903301239, - 0.3325185477733612, - -0.3199238181114197, - -0.6175596117973328 - ], - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_left": { - "pos": [ - -0.5, - 0.35, - 1.05 - ], - "quat": [ - 0.55623853, - 0.29935253, - -0.37678665, - -0.6775092 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_agentview_right": { - "pos": [ - -0.5, - -0.35, - 1.05 - ], - "quat": [ - 0.6775091886520386, - 0.3767866790294647, - -0.2993525564670563, - -0.55623859167099 - ], - "camera_attribs": { - "fovy": "60" - }, - "parent_body": "mobilebase0_support" - }, - "robot0_frontview": { - "pos": [ - -0.5, - 0, - 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"layout_id": 10, - "style_id": 10, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_2_right_group", - "min_size": [ - 0.04848115650000001, - 0.2625, - 0.0479884545 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "rolling_pin", - "tool", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "rolling_pin", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_4/model.xml" - }, - "reset_region": { - "size": [ - 0.48000000000000065, - 0.65 - ], - "offset": [ - -0.7549999999999997, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_2_right_group", - "min_size": [ - 0.0709521, - 0.050595, - 0.1488415375 - ] - }, - "size": [ - 1.0, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.3 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "mustard", - "condiment" - ], - "groups": [ - "all" - ], - "cat": "mustard", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard009/model.xml" - }, - "reset_region": { - "size": [ - 0.48000000000000065, - 0.65 - ], - "offset": [ - -0.7549999999999997, - -3.469446951953614e-17, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_cab", - "obj_groups": "all", - "placement": { - "fixture": "cab_2_right_group", - "size": [ - 1.0, - 0.2 - ], - "pos": [ - null, - 1.0 - ], - "offset": [ - 0.0, - 0.0 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "bread_flat", - "bread_food", - "food", - "in_container" - ], - "groups": [ - "all" - ], - "cat": "bread_flat", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_9/model.xml" - }, - "reset_region": { - "offset": [ - 0.0, - 0.0, - -0.43 - ], - "size": [ - 0.44, - 0.34 - ], - "height": 0.2666666666666667, - "name": "level0" - } - } - ], - "fixtures": { - "wall_room": { - "cls": "Wall" - }, - "wall_backing_room": { - "cls": "Wall" - }, - "wall_front_room": { - "cls": "Wall" - }, - "wall_front_backing_room": { - "cls": "Wall" - }, - "wall_left_room": { - "cls": "Wall" - }, - "wall_left_backing_room": { - "cls": "Wall" - }, - "wall_left_2_room": { - "cls": "Wall" - }, - "wall_2_left_backing_room": { - "cls": "Wall" - }, - "wall_right_room": { - "cls": "Wall" - }, - "wall_right_backing_room": { - "cls": "Wall" - }, - "utensil_rack_room": { - "cls": "WallAccessory" - }, - "outlet_room": { - "cls": "WallAccessory" - }, - "outlet_2_room": { - "cls": "WallAccessory" - }, - "outlet_3_room": { - "cls": "WallAccessory" - }, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "floor_front_room": { - "cls": "Floor" - }, - "floor_front_backing_room": { - "cls": "Floor" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_1_main_group": { - "cls": "Counter" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "stove_main_group": { - "cls": "Stove" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_1_main_group": { - "cls": "HingeCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - }, - "cab_corner_3_main_group": { - "cls": "Box" - }, - "cab_corner_4_main_group": { - "cls": "Box" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "Drawer" - }, - "stack_2_main_group_3": { - "cls": "Drawer" - }, - "right_corner_box_main_group": { - "cls": "Box" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_main_group_2": { - "cls": "Drawer" - }, - "stack_3_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_base": { - "cls": "Box" - }, - "stack_4_main_group_1": { - "cls": "Drawer" - }, - "stack_4_main_group_2": { - "cls": "Drawer" - }, - "stack_4_main_group_3": { - "cls": "Drawer" - }, - "stack_4_main_group_4": { - "cls": "Drawer" - }, - "coffee_machine_main_group": { - "cls": "CoffeeMachine" - }, - "knife_block_main_group": { - "cls": "Accessory" - }, - "plant_main_group": { - "cls": "Accessory" - }, - "toaster_main_group": { - "cls": "Toaster" - }, - "toaster_oven_main_group": { - "cls": "ToasterOven" - }, - "tiered_basket_main_group": { - "cls": "Accessory" - }, - "jar_main_group": { - "cls": "Accessory" - }, - "paprika_main_group": { - "cls": "Accessory" - }, - "cinnamon_main_group": { - "cls": "Accessory" - }, - "turmeric_main_group": { - "cls": "Accessory" - }, - "salt_shaker_main_group": { - "cls": "Accessory" - }, - "jar_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "salt_shaker_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "fridge_left_group": { - "cls": "FridgeFrenchDoor" - }, - "fridge_housing_left_group": { - "cls": "HousingCabinet" - }, - "fridge_top_left_group": { - "cls": "HingeCabinet" - }, - "stack_left_left_group_base": { - "cls": "Box" - }, - "stack_left_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_left_left_group_2": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_base": { - "cls": "Box" - }, - "stack_right_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_right_left_group_2": { - "cls": "SingleCabinet" - }, - "box_left_top_left_group": { - "cls": "Box" - }, - "box_left_bottom_left_group": { - "cls": "Box" - }, - "box_right_top_left_group": { - "cls": "Box" - }, - "box_right_bottom_left_group": { - "cls": "Box" - }, - "sink_right_group": { - "cls": "Sink" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_right_group": { - "cls": "Dishwasher" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "cab_1_right_group": { - "cls": "HingeCabinet" - }, - "cab_2_right_group": { - "cls": "SingleCabinet" - }, - "soap_dispenser_right_group": { - "cls": "Accessory" - }, - "counter_corner_1_front_group": { - "cls": "Counter" - }, - "counter_1_front_group": { - "cls": "Counter" - }, - "stack_1_front_group_base": { - "cls": "Box" - }, - "stack_1_front_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_front_group_2": { - "cls": "Drawer" - }, - "shelves_front_group": { - "cls": "OpenCabinet" - }, - "bottom_front_group_base": { - "cls": "Box" - }, - "bottom_front_group_1": { - "cls": "Drawer" - }, - "bottom_front_group_2": { - "cls": "Drawer" - }, - "cab_middle_front_group": { - "cls": "HingeCabinet" - }, - "microwave_front_group": { - "cls": "Microwave" - }, - "micro_housing_front_group": { - "cls": "HousingCabinet" - }, - "top_front_group": { - "cls": "HingeCabinet" - }, - "utensil_set_front_group": { - "cls": "Accessory" - }, - "counter_1_dining_area_group": { - "cls": "Counter" - }, - 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"layout_id": 3, - "style_id": 3, - "object_cfgs": [ - { - "name": "obj", - "obj_groups": "all", - "exclude_obj_groups": null, - "graspable": true, - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - "ref": "cab_1_right_group", - "min_size": [ - 0.136359081, - 0.13636387800000002, - 0.13940233200000002 - ] - }, - "size": [ - 0.6, - 0.3 - ], - "pos": [ - "ref", - -1.0 - ], - "offset": [ - 0.0, - 0.1 - ] - }, - "type": "object", - "info": { - "groups_containing_sampled_obj": [ - "all", - "jar", - "receptacle", - "decoration" - ], - "groups": [ - "all" - ], - "cat": "jar", - "split": "test", - "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar022/model.xml" - }, - "reset_region": { - "size": [ - 0.4999999999999998, - 0.65 - ], - "offset": [ - 1.1102230246251565e-16, - 0.0, - 0.46 - ], - "name": "geom_0" - } - }, - { - "name": "distr_counter", - "obj_groups": "all", - "placement": { - "fixture": "counter_1_right_group", - "sample_region_kwargs": { - 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}, - "light_switch_room": { - "cls": "WallAccessory" - }, - "light_switch_2_room": { - "cls": "WallAccessory" - }, - "window_group_room": { - "cls": "Window" - }, - "floor_room": { - "cls": "Floor" - }, - "floor_backing_room": { - "cls": "Floor" - }, - "floor_front_room": { - "cls": "Floor" - }, - "floor_front_backing_room": { - "cls": "Floor" - }, - "stool_1_room": { - "cls": "Stool" - }, - "stool_2_room": { - "cls": "Stool" - }, - "stool_3_room": { - "cls": "Stool" - }, - "counter_corner_1_main_group": { - "cls": "Counter" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "stove_main_group": { - "cls": "Stove" - }, - "counter_1_main_group": { - "cls": "Counter" - }, - "counter_corner_2_main_group": { - "cls": "Counter" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_1_main_group": { - "cls": "HingeCabinet" - }, - "hood_main_group": { - "cls": "Hood" - }, - "shelves_main_group": { - "cls": "OpenCabinet" - 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}, - "oil_bottle_main_group": { - "cls": "Accessory" - }, - "glass_cup_main_group": { - "cls": "Accessory" - }, - "glass_cup_2_main_group": { - "cls": "Accessory" - }, - "oil_bottle_main_group_auxiliary_main_group": { - "cls": "Accessory" - }, - "sink_island_group": { - "cls": "Sink" - }, - "island_island_group": { - "cls": "Counter" - }, - "island_stack_1_island_group_base": { - "cls": "Box" - }, - "island_stack_1_island_group_1": { - "cls": "HingeCabinet" - }, - "island_stack_1_island_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_island_group": { - "cls": "Dishwasher" - }, - "island_panel_cab_right_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_right_island_group_1": { - "cls": "PanelCabinet" - }, - "island_cab_right_island_group_base": { - "cls": "Box" - }, - "island_cab_right_island_group_1": { - "cls": "Drawer" - }, - "island_cab_right_island_group_2": { - "cls": "Drawer" - }, - "island_cab_right_island_group_3": { - "cls": "Drawer" - }, - "island_cab_right_island_group_4": { - "cls": "Drawer" - }, - "island_panel_cab_left_island_group_base": { - "cls": "Box" - }, - "island_panel_cab_left_island_group_1": { - "cls": "PanelCabinet" - }, - "island_base_box_island_group": { - "cls": "Box" - }, - "plant_island_group": { - "cls": "Accessory" - }, - "soap_dispenser_island_group": { - "cls": "Accessory" - }, - "fruit_bowl_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group": { - "cls": "Accessory" - }, - "salt_shaker_island_group_auxiliary_island_group": { - "cls": "Accessory" - }, - "counter_1_left_group": { - "cls": "Counter" - }, - "counter_corner_left_group": { - "cls": "Counter" - }, - "bottom_left_group_base": { - "cls": "Box" - }, - "bottom_left_group_1": { - "cls": "Drawer" - }, - "bottom_left_group_2": { - "cls": "Drawer" - }, - "oven_left_group": { - "cls": "Oven" - }, - "oven_housing_left_group": { - "cls": "HousingCabinet" - }, - "microwave_left_group": { - "cls": "Microwave" - }, - "micro_housing_left_group": { - "cls": "HousingCabinet" - }, - "top_left_group": { - "cls": "HingeCabinet" - }, - "stack_1_left_group_base": { - "cls": "Box" - }, - "stack_1_left_group_1": { - "cls": "SingleCabinet" - }, - "stack_1_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_base": { - "cls": "Box" - }, - "stack_2_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_left_group_2": { - "cls": "Drawer" - }, - "stack_2_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "Drawer" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "stack_3_left_group_3": { - "cls": "Drawer" - }, - "stack_3_left_group_4": { - "cls": "Drawer" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "cab_2_left_group": { - "cls": "SingleCabinet" - }, - "toaster_oven_left_group": { - "cls": "ToasterOven" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "jar_left_group": { - "cls": "Accessory" - }, - "jar_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "counter_1_right_group": { - "cls": "Counter" - }, - "counter_corner_right_group": { - "cls": "Counter" - }, - "fridge_right_group": { - "cls": "FridgeSideBySide" - }, - "fridge_housing_right_group": { - "cls": "HousingCabinet" - }, - "stack_1_right_group_base": { - "cls": "Box" - }, - "stack_1_right_group_1": { - "cls": "HingeCabinet" - }, - "stack_1_right_group_2": { - "cls": "Drawer" - }, - "stack_1_right_group_3": { - "cls": "Drawer" - }, - "stack_2_right_group_base": { - "cls": "Box" - }, - "stack_2_right_group_1": { - "cls": "SingleCabinet" - }, - "stack_2_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_base": { - "cls": "Box" - }, - "stack_3_right_group_1": { - "cls": "Drawer" - }, - "stack_3_right_group_2": { - "cls": "Drawer" - }, - "stack_3_right_group_3": { - "cls": "Drawer" - }, - "stack_3_right_group_4": { - "cls": "Drawer" - }, - "cab_1_right_group": { - 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}, - "floor_backing_room": { - "cls": "Floor" - }, - "cab_main_main_group": { - "cls": "HingeCabinet" - }, - "cab_corner_main_group": { - "cls": "Box" - }, - "cab_corner_2_main_group": { - "cls": "Box" - }, - "counter_corner_left_main_group": { - "cls": "Counter" - }, - "sink_main_group": { - "cls": "Sink" - }, - "counter_main_main_group": { - "cls": "Counter" - }, - "counter_corner_right_main_group": { - "cls": "Counter" - }, - "stack_1_main_group_base": { - "cls": "Box" - }, - "stack_1_main_group_1": { - "cls": "Drawer" - }, - "stack_1_main_group_2": { - "cls": "Drawer" - }, - "stack_1_main_group_3": { - "cls": "Drawer" - }, - "stack_1_main_group_4": { - "cls": "Drawer" - }, - "stack_2_main_group_base": { - "cls": "Box" - }, - "stack_2_main_group_1": { - "cls": "HingeCabinet" - }, - "stack_2_main_group_2": { - "cls": "PanelCabinet" - }, - "dishwasher_main_group": { - "cls": "Dishwasher" - }, - "stack_3_main_group_base": { - "cls": "Box" - }, - "stack_3_main_group_1": { - "cls": "HingeCabinet" - 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}, - "stack_3_left_group_base": { - "cls": "Box" - }, - "stack_3_left_group_1": { - "cls": "HingeCabinet" - }, - "stack_3_left_group_2": { - "cls": "Drawer" - }, - "cab_1_left_group": { - "cls": "HingeCabinet" - }, - "shelves_left_group": { - "cls": "OpenCabinet" - }, - "coffee_machine_left_group": { - "cls": "CoffeeMachine" - }, - "plant_left_group": { - "cls": "Accessory" - }, - "oil_bottle_left_group": { - "cls": "Accessory" - }, - "salt_shaker_left_group": { - "cls": "Accessory" - }, - "paprika_left_group": { - "cls": "Accessory" - }, - "cinnamon_left_group": { - "cls": "Accessory" - }, - "turmeric_left_group": { - "cls": "Accessory" - }, - "oil_bottle_left_group_auxiliary_left_group": { - "cls": "Accessory" - }, - "salt_shaker_left_group_auxiliary_left_group": { - "cls": "Accessory" - } - }, - "gen_textures": {}, - "lang": "Pick the liquor from the counter and place it in the cabinet.", - "fixture_refs": { - "cab": "cab_1_left_group", - "counter": "counter_1_left_group" - }, - "cam_configs": { - 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