| { |
| "layout_id": 3, |
| "style_id": 3, |
| "object_cfgs": [ |
| { |
| "name": "lemon_wedge", |
| "obj_groups": "lemon_wedge", |
| "placement": { |
| "fixture": "fridge_right_group", |
| "size": [ |
| 0.25, |
| 0.2 |
| ], |
| "pos": [ |
| 0, |
| -1.0 |
| ], |
| "sample_region_kwargs": { |
| "z_range": [ |
| 1.0, |
| 1.5 |
| ], |
| "min_size": [ |
| 0.055002, |
| 0.099718, |
| 0.055252 |
| ] |
| } |
| }, |
| "type": "object", |
| "info": { |
| "groups_containing_sampled_obj": [ |
| "all", |
| "lemon_wedge", |
| "vegetable", |
| "food", |
| "in_container" |
| ], |
| "groups": [ |
| "lemon_wedge" |
| ], |
| "cat": "lemon_wedge", |
| "split": "test", |
| "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge012/model.xml" |
| }, |
| "reset_region": { |
| "offset": [ |
| 0.0006283580740888139, |
| 0.1306361873839963, |
| 0.21009813009897166 |
| ], |
| "size": [ |
| 0.6656846470611737, |
| 0.50693639215253 |
| ], |
| "name": "fridge_shelf0" |
| } |
| }, |
| { |
| "name": "fridge_distractor", |
| "fridgable": true, |
| "exclude_obj_groups": "lemon_wedge", |
| "placement": { |
| "fixture": "fridge_right_group", |
| "size": [ |
| 0.3, |
| 0.3 |
| ], |
| "pos": [ |
| 0, |
| 1.0 |
| ], |
| "sample_region_kwargs": { |
| "z_range": [ |
| 0.5, |
| 1.5 |
| ], |
| "min_size": [ |
| 0.0570834, |
| 0.05719882500000001, |
| 0.1496028375 |
| ] |
| } |
| }, |
| "type": "object", |
| "info": { |
| "groups_containing_sampled_obj": [ |
| "all", |
| "mustard", |
| "condiment" |
| ], |
| "groups": [ |
| "all" |
| ], |
| "cat": "mustard", |
| "split": "test", |
| "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard012/model.xml" |
| }, |
| "reset_region": { |
| "offset": [ |
| 0.0006283580740888139, |
| 0.1306361873839963, |
| 0.5174214961304935 |
| ], |
| "size": [ |
| 0.6656846470611737, |
| 0.50693639215253 |
| ], |
| "name": "fridge_shelf1" |
| } |
| }, |
| { |
| "name": "ice_bowl", |
| "obj_groups": "bowl", |
| "object_scale": [ |
| 1.1, |
| 1.1, |
| 0.75 |
| ], |
| "placement": { |
| "fixture": "counter_2_right_group", |
| "sample_region_kwargs": { |
| "ref": "fridge_right_group", |
| "min_size": [ |
| 0.2637939875999999, |
| 0.2639969323199999, |
| 0.07371960119999996 |
| ] |
| }, |
| "size": [ |
| 1.0, |
| 0.4 |
| ], |
| "pos": [ |
| "ref", |
| -1.0 |
| ] |
| }, |
| "type": "object", |
| "info": { |
| "groups_containing_sampled_obj": [ |
| "all", |
| "bowl", |
| "stackable", |
| "receptacle", |
| "group1", |
| "container_set2" |
| ], |
| "groups": [ |
| "bowl" |
| ], |
| "cat": "bowl", |
| "split": "test", |
| "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" |
| }, |
| "reset_region": { |
| "size": [ |
| 1.7, |
| 0.65 |
| ], |
| "offset": [ |
| 0.0, |
| 0.0, |
| 0.46 |
| ], |
| "name": "geom_0" |
| } |
| }, |
| { |
| "name": "ice_cube1", |
| "obj_groups": "ice_cube", |
| "object_scale": 0.9, |
| "placement": { |
| "size": [ |
| 0.13189699379999995, |
| 0.13189699379999995 |
| ], |
| "ensure_object_boundary_in_range": false, |
| "sample_args": { |
| "reference": "ice_bowl", |
| "on_top": true |
| } |
| }, |
| "type": "object", |
| "info": { |
| "groups_containing_sampled_obj": [ |
| "all", |
| "ice_cube", |
| "iced_item", |
| "in_container" |
| ], |
| "groups": [ |
| "ice_cube" |
| ], |
| "cat": "ice_cube", |
| "split": "test", |
| "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml" |
| } |
| }, |
| { |
| "name": "ice_cube2", |
| "obj_groups": "ice_cube", |
| "object_scale": 0.9, |
| "placement": { |
| "size": [ |
| 0.13189699379999995, |
| 0.13189699379999995 |
| ], |
| "ensure_object_boundary_in_range": false, |
| "sample_args": { |
| "reference": "ice_bowl", |
| "on_top": true |
| } |
| }, |
| "type": "object", |
| "info": { |
| "groups_containing_sampled_obj": [ |
| "all", |
| "ice_cube", |
| "iced_item", |
| "in_container" |
| ], |
| "groups": [ |
| "ice_cube" |
| ], |
| "cat": "ice_cube", |
| "split": "test", |
| "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube005/model.xml" |
| } |
| }, |
| { |
| "name": "glass_cup", |
| "obj_groups": "glass_cup", |
| "object_scale": [ |
| 1.25, |
| 1.25, |
| 1 |
| ], |
| "placement": { |
| "fixture": "counter_2_right_group", |
| "sample_region_kwargs": { |
| "ref": "fridge_right_group", |
| "min_size": [ |
| 0.08202086250000001, |
| 0.0820225, |
| 0.14712964 |
| ] |
| }, |
| "size": [ |
| 0.5, |
| 0.25 |
| ], |
| "pos": [ |
| "ref", |
| -1.0 |
| ] |
| }, |
| "type": "object", |
| "info": { |
| "groups_containing_sampled_obj": [ |
| "all", |
| "glass_cup", |
| "stackable", |
| "receptacle" |
| ], |
| "groups": [ |
| "glass_cup" |
| ], |
| "cat": "glass_cup", |
| "split": "test", |
| "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml" |
| }, |
| "reset_region": { |
| "size": [ |
| 1.7, |
| 0.65 |
| ], |
| "offset": [ |
| 0.0, |
| 0.0, |
| 0.46 |
| ], |
| "name": "geom_0" |
| } |
| } |
| ], |
| "fixtures": { |
| "wall_room": { |
| "cls": "Wall" |
| }, |
| "wall_backing_room": { |
| "cls": "Wall" |
| }, |
| "wall_right_room": { |
| "cls": "Wall" |
| }, |
| "wall_right_backing_room": { |
| "cls": "Wall" |
| }, |
| "floor_room": { |
| "cls": "Floor" |
| }, |
| "floor_backing_room": { |
| "cls": "Floor" |
| }, |
| "outlet_room": { |
| "cls": "WallAccessory" |
| }, |
| "light_switch_room": { |
| "cls": "WallAccessory" |
| }, |
| "light_switch_2_room": { |
| "cls": "WallAccessory" |
| }, |
| "utensil_rack_room": { |
| "cls": "WallAccessory" |
| }, |
| "outlet_2_room": { |
| "cls": "WallAccessory" |
| }, |
| "cab_1_main_group": { |
| "cls": "HingeCabinet" |
| }, |
| "cab_2_main_group": { |
| "cls": "HingeCabinet" |
| }, |
| "cab_main_main_group": { |
| "cls": "HingeCabinet" |
| }, |
| "cab_corner_main_group": { |
| "cls": "Box" |
| }, |
| "cab_corner_2_main_group": { |
| "cls": "Box" |
| }, |
| "sink_main_group": { |
| "cls": "Sink" |
| }, |
| "counter_main_main_group": { |
| "cls": "Counter" |
| }, |
| "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": "Grab a lemon wedge from the fridge and one ice cube from the ice bowl, and put them in the glass of lemonade.", |
| "fixture_refs": { |
| "fridge": "fridge_right_group", |
| "counter": "counter_2_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": [ |
| 4.053281836408093, |
| -3.9797932204326005, |
| 0.0 |
| ], |
| "init_robot_base_ori": [ |
| 0.0, |
| 0.0, |
| -3.673205103416066e-06 |
| ] |
| } |