{ "layout_id": 9, "style_id": 9, "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": [ 0.042338, 0.092772, 0.048494 ] } }, "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/LemonWedge011/model.xml" }, "reset_region": { "offset": [ 0.17012238254205664, 0.01285438192129941, 0.5311948742500949 ], "size": [ 0.37549296241974783, 0.3946066862490093 ], "name": "fridge_shelf2" } }, { "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": [ 0.05956470240000002, 0.05986484640000002, 0.07946506480000003 ] } }, "type": "object", "info": { "groups_containing_sampled_obj": [ "all", "tomato", "vegetable", "food", "in_container" ], "groups": [ "all" ], "cat": "tomato", "split": "test", "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml" }, "reset_region": { "offset": [ 0.17012238254205664, 0.01285438192129941, 0.5311948742500949 ], "size": [ 0.37549296241974783, 0.3946066862490093 ], "name": "fridge_shelf2" } }, { "name": "ice_bowl", "obj_groups": "bowl", "object_scale": [ 1.1, 1.1, 0.75 ], "placement": { "fixture": "counter_1_main_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", "receptacle", "stackable", "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": [ 0.5169929026218261, 0.65 ], "offset": [ 0.49150354868908686, -3.469446951953614e-17, 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/IceCube004/model.xml" } }, { "name": "glass_cup", "obj_groups": "glass_cup", "object_scale": [ 1.25, 1.25, 1 ], "placement": { "fixture": "counter_1_main_group", "sample_region_kwargs": { "ref": "fridge_right_group", "min_size": [ 0.1080125, 0.10806750000000001, 0.109506 ] }, "size": [ 0.5, 0.25 ], "pos": [ "ref", -1.0 ] }, "type": "object", "info": { "groups_containing_sampled_obj": [ "all", "glass_cup", "receptacle", "stackable" ], "groups": [ "glass_cup" ], "cat": "glass_cup", "split": "test", "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml" }, "reset_region": { "size": [ 0.5169929026218261, 0.65 ], "offset": [ 0.49150354868908686, -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" }, "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": { "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": "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_1_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": [ 4.961202759762481, -1.5552792522606183, 0.0 ], "init_robot_base_ori": [ 0.0, 0.0, -3.673205103416066e-06 ] }