| {"layout_id": 1, "style_id": 1, "object_cfgs": [{"name": "drawer_obj", "obj_groups": "all", "graspable": true, "max_size": [null, null, 0.1], "placement": {"fixture": "stack_4_main_group_3", "size": [0.3, 0.3], "pos": [null, -0.75]}, "type": "object", "info": {"groups_containing_sampled_obj": ["all", "cake", "sweets", "food", "in_container"], "groups": ["all"], "cat": "cake", "split": "B", "mjcf_path": "robocasa/robocasa/models/assets/objects/objaverse/cake/cake_7/model.xml"}}, {"name": "distr_counter_1", "obj_groups": "all", "placement": {"fixture": "counter_2_main_group", "sample_region_kwargs": {"ref": "stack_4_main_group_3"}, "size": [1.0, 0.5], "pos": [null, -1.0], "offset": [0.0, 0.1]}, "type": "object", "info": {"groups_containing_sampled_obj": ["all", "spray", "cleaner"], "groups": ["all"], "cat": "spray", "split": "B", "mjcf_path": "robocasa/robocasa/models/assets/objects/objaverse/spray/spray_2/model.xml"}}, {"name": "distr_counter_2", "obj_groups": "all", "placement": {"fixture": "counter_2_main_group", "sample_region_kwargs": {"ref": "stack_4_main_group_3"}, "size": [1.0, 0.5], "pos": [null, -1.0], "offset": [0.0, 0.1]}, "type": "object", "info": {"groups_containing_sampled_obj": ["all", "tray", "receptacle"], "groups": ["all"], "cat": "tray", "split": "B", "mjcf_path": "robocasa/robocasa/models/assets/objects/objaverse/tray/tray_7/model.xml"}}], "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"}, "counter_main_main_group": {"cls": "Counter"}, "stovetop_main_group": {"cls": "Stovetop"}, "counter_1_main_group": {"cls": "Counter"}, "counter_2_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": "Fridge"}, "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"}, "knife_block_main_group": {"cls": "Accessory"}, "toaster_main_group": {"cls": "Toaster"}, "paper_towel_main_group": {"cls": "Accessory"}, "coffee_machine_main_group": {"cls": "CoffeeMachine"}, "sink_island_group": {"cls": "Sink"}, "island_counter_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"}, "stool_1_island_group": {"cls": "Stool"}, "stool_2_island_group": {"cls": "Stool"}, "stool_3_island_group": {"cls": "Stool"}}, "gen_textures": {}, "lang": "open the left drawer", "fixture_refs": {"drawer": "stack_4_main_group_3"}, "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"}}, "generative_textures": null} |