ML-GOD's picture
Upload folder using huggingface_hub
453f6ef verified
{
"layout_id": 2,
"style_id": 2,
"object_cfgs": [
{
"name": "lemon_wedge",
"obj_groups": "lemon_wedge",
"placement": {
"fixture": "fridge_main_group",
"size": [
0.25,
0.2
],
"pos": [
0,
-1.0
],
"sample_region_kwargs": {
"z_range": [
1.0,
1.5
],
"min_size": [
0.031556,
0.09862,
0.033072
]
}
},
"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/LemonWedge008/model.xml"
},
"reset_region": {
"offset": [
0.17814463557448615,
0.08637299397525318,
0.13271259301848515
],
"size": [
0.4120868976143814,
0.5603790231143407
],
"name": "fridge_shelf0"
}
},
{
"name": "fridge_distractor",
"fridgable": true,
"exclude_obj_groups": "lemon_wedge",
"placement": {
"fixture": "fridge_main_group",
"size": [
0.3,
0.3
],
"pos": [
0,
1.0
],
"sample_region_kwargs": {
"z_range": [
0.5,
1.5
],
"min_size": [
0.03960264150000001,
0.132459354,
0.0394309296
]
}
},
"type": "object",
"info": {
"groups_containing_sampled_obj": [
"all",
"sweet_potato",
"vegetable",
"food",
"in_container",
"oven_ready"
],
"groups": [
"all"
],
"cat": "sweet_potato",
"split": "test",
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
},
"reset_region": {
"offset": [
0.17814463557448615,
0.08637299397525318,
0.13271259301848515
],
"size": [
0.4120868976143814,
0.5603790231143407
],
"name": "fridge_shelf0"
}
},
{
"name": "ice_bowl",
"obj_groups": "bowl",
"object_scale": [
1.1,
1.1,
0.75
],
"placement": {
"fixture": "counter_main_main_group",
"sample_region_kwargs": {
"ref": "fridge_main_group",
"min_size": [
0.2529994180999999,
0.25299282997999983,
0.05017105229999998
]
},
"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_5/model.xml"
},
"reset_region": {
"size": [
1.019460818110389,
0.65
],
"offset": [
-1.3902695909448055,
-3.469446951953614e-17,
0.46
],
"name": "geom_0"
}
},
{
"name": "ice_cube1",
"obj_groups": "ice_cube",
"object_scale": 0.9,
"placement": {
"size": [
0.12649641498999992,
0.12649641498999992
],
"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/IceCube004/model.xml"
}
},
{
"name": "ice_cube2",
"obj_groups": "ice_cube",
"object_scale": 0.9,
"placement": {
"size": [
0.12649641498999992,
0.12649641498999992
],
"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/IceCube004/model.xml"
}
},
{
"name": "glass_cup",
"obj_groups": "glass_cup",
"object_scale": [
1.25,
1.25,
1
],
"placement": {
"fixture": "counter_main_main_group",
"sample_region_kwargs": {
"ref": "fridge_main_group",
"min_size": [
0.1242527375,
0.1242605,
0.12121953
]
},
"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/GlassCup021/model.xml"
},
"reset_region": {
"size": [
1.019460818110389,
0.65
],
"offset": [
-1.3902695909448055,
-3.469446951953614e-17,
0.46
],
"name": "geom_0"
}
}
],
"fixtures": {
"wall_room": {
"cls": "Wall"
},
"wall_backing_room": {
"cls": "Wall"
},
"wall_left_room": {
"cls": "Wall"
},
"wall_left_backing_room": {
"cls": "Wall"
},
"wall_right_room": {
"cls": "Wall"
},
"wall_right_backing_room": {
"cls": "Wall"
},
"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": "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_main_group",
"counter": "counter_main_main_group"
},
"cam_configs": {
"robot0_agentview_center": {
"pos": [
-0.6,
0.0,
1.15
],
"quat": [
0.636945903301239,
0.3325185477733612,
-0.3199238181114197,
-0.6175596117973328
],
"parent_body": "mobilebase0_support"
},
"robot0_agentview_left": {
"pos": [
-0.5,
0.35,
1.05
],
"quat": [
0.55623853,
0.29935253,
-0.37678665,
-0.6775092
],
"camera_attribs": {
"fovy": "60"
},
"parent_body": "mobilebase0_support"
},
"robot0_agentview_right": {
"pos": [
-0.5,
-0.35,
1.05
],
"quat": [
0.6775091886520386,
0.3767866790294647,
-0.2993525564670563,
-0.55623859167099
],
"camera_attribs": {
"fovy": "60"
},
"parent_body": "mobilebase0_support"
},
"robot0_frontview": {
"pos": [
-0.5,
0,
0.95
],
"quat": [
0.6088936924934387,
0.3814677894115448,
-0.3673907518386841,
-0.5905545353889465
],
"camera_attribs": {
"fovy": "60"
},
"parent_body": "mobilebase0_support"
},
"robot0_eye_in_hand": {
"pos": [
0.05,
0,
0
],
"quat": [
0,
0.707107,
0.707107,
0
],
"parent_body": "robot0_right_hand"
}
},
"init_robot_base_pos": [
0.1324842788031736,
-1.1413423749237341,
0.0
],
"init_robot_base_ori": [
0.0,
0.0,
1.5707963267948966
]
}