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Datasets:
behavior-spatial-benchmark
/
BEHAVIOR-Spatial

Tasks:
Visual Question Answering
Robotics
ArXiv:
Tags:
spatial-reasoning
embodied-ai
behavior-1k
lerobot
arxiv:2610.34051
License:
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BEHAVIOR-Spatial benchmark data release

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  2. MANIFEST.json +0 -0
  3. README.md +141 -0
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  38. action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00481200.json +83 -0
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  45. action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482180_tro.json +399 -0
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  48. action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482720_tro.json +399 -0
  49. action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482730.bddl +38 -0
  50. action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482730.json +83 -0
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+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+ *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - uncompressed
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+ # Image files - uncompressed
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+ # Image files - compressed
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+ *.jpeg filter=lfs diff=lfs merge=lfs -text
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+ # Video files - compressed
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+ action/train/navigation/meta/episodes_stats.jsonl filter=lfs diff=lfs merge=lfs -text
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+ action/train/manipulation/meta/ir_centers.jsonl filter=lfs diff=lfs merge=lfs -text
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1
+ ---
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+ license: mit
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+ pretty_name: BEHAVIOR-Spatial
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+ task_categories:
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+ - visual-question-answering
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+ - robotics
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+ tags:
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+ - spatial-reasoning
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+ - embodied-ai
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+ - behavior-1k
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+ - lerobot
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+ - arxiv:2610.34051
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+ ---
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+
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+ # BEHAVIOR-Spatial Benchmark
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+
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+ Data for **BEHAVIOR-Spatial Benchmark: Evaluating Spatial Understanding for Robotics**
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+ ([arXiv:2610.34051](https://arxiv.org/abs/2610.34051)). The benchmark measures whether spatial understanding in
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+ vision-language models (VLMs) carries over to vision-language-action (VLA)
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+ behavior. It has three components, all built in BEHAVIOR-1K / OmniGibson:
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+
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+ | Component | What | Size |
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+ |---|---|---|
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+ | **BEHAVIOR-Spatial-VQA** (Understand) | multiple-choice spatial questions | 3,256 questions: 1,572 general + 1,082 manipulation-task + 602 navigation-task |
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+ | **BEHAVIOR-Spatial-IR** (Ground) | point-based target grounding: predict the instructed target's image point | 1,240 queries over 14 manipulation tasks |
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+ | **BEHAVIOR-Spatial-Action** (Act) | sim evaluation instances and LeRobot training sets | 14 manipulation + 10 navigation tasks |
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+
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+ Project website: https://arielchen07.github.io/behavior-spatial/
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+
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+ Code: https://github.com/arielchen07/BEHAVIOR-Spatial-benchmark
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+
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+ ## Layout
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+
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+ ```
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+ vqa/
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+ general/single_frame/ 1,078 questions (direction 600 / distance 339 / size 139), images/
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+ general/multi_frame/rotation/ 239 questions (direction / distance / size)
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+ general/multi_frame/navigation/ 255 questions
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+ task/manipulation/<task>/ 1,082 task-grounded questions over 14 manipulation tasks
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+ task/navigation/<task>/ 602 task-grounded questions over 10 navigation tasks (+ context/ frames)
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+ ir/
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+ gt/<task>.json 1,240 grounding queries (14 tasks)
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+ frames/<task>/ 720x720 head-camera frames
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+ masks/<task>/ instance-segmentation masks (12 tasks; see "IR ground truth")
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+ action/
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+ eval/manipulation/held_out/ 469 evaluation instances (BDDL + task-relevant-object JSON)
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+ eval/manipulation/prompt_probe/ 700 instruction-change probes
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+ eval/navigation/held_out/ 401 navigation instances
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+ train/manipulation/ LeRobot v2.1, 5,532 episodes (4,833 unique; 14 tasks + training-only place_saucer)
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+ train/navigation/ LeRobot v2.1, 3,912 episodes
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+ train/manipulation_subsets/ episode-index lists for the 30% / 50% data-scaling runs
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+ train/navigation_context/ context-tour frames per scene (21 / 6 / 13 / 16 / 21)
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+ scripts/downscale_to_224.py rebuild the 224x224 inputs the paper's policies trained on
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+ MANIFEST.json per-component counts + sha256 of every JSON/JSONL file
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+ ```
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+
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+ Each VQA `questions.json` holds records with `question_id`, `question`,
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+ `options`, `gt_answer`, and image path(s) relative to that file's directory.
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+
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+ ## Training data (LeRobot v2.1)
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+
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+ `action/train/{manipulation,navigation}` load with stock LeRobot v2.1
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+ (`LeRobotDataset(repo_id, root=...)`) and use the standard
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+ `chunk-{episode_index // 1000:03d}` layout.
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+
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+ State and action are 23-dim (base velocity 3, trunk 4, left arm 7, left gripper 1,
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+ right arm 7, right gripper 1) at 30 fps. Normalization statistics used in the paper
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+ are in `norm_stats.json`; per-task sampling weights in `task_weights.json`.
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+
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+ All video streams are at native resolution:
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+
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+ | key | manipulation | navigation | resolution |
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+ |---|---|---|---|
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+ | `head_image` | ✓ | ✓ | 720×720 |
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+ | `left_wrist_image`, `right_wrist_image` | ✓ | | 480×480 |
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+ | `object_center_image` (dot IR) | ✓ | | 720×720 |
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+ | `object_center_first_image` (frame-0 dot IR, repeated) | ✓ | | 720×720 |
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+ | `attn_map_image` (Gaussian attention-map IR) | ✓ | | 720×720 |
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+
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+ - **Resolution used in the paper.** The paper's policies were trained on a
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+ 224×224 downscale of these streams; `scripts/downscale_to_224.py` rebuilds it.
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+ - **`meta/ir_centers.jsonl`** (manipulation) gives the per-frame target center in
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+ 720×720 head-image pixels (`null` = out of view; placement tasks use the
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+ destination). It is all you need to render the IR at any resolution.
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+ - **Navigation is head-camera only**, matching the paper's navigation policies.
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+ - **Manipulation training covers 15 tasks**: the 14 benchmark tasks plus
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+ `place_saucer` (97 episodes), which is used only for training, as in the paper.
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+ - **Repeated episodes.** The 5,532 manipulation episodes are 4,833 unique
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+ demonstrations plus 699 exact copies, kept so the set matches what the paper's
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+ policies trained on: variant balancing for `reach_food_item` (416) and
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+ `place_bowl_in_cabinet` (89), and upweighting of the approach-augmented
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+ `reach_paperback_book` episodes (194). `meta/duplicate_of.json` maps each copy to
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+ its original; drop its keys for unique demonstrations. `task_weights.json` adds
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+ per-task sampling weights on top (default preset `uniform_by_task`).
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+
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+ Sources: BEHAVIOR-1K 2025 and 2026 challenge demonstrations
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+ (`behavior-1k/2025-challenge-demos`, `behavior-1k/2026-challenge-demos`) plus
98
+ simulator replays for `reach_hardback_from_bookcase`, part of `reach_plate`, and
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+ the approach-augmented `reach_paperback_book` episodes.
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+
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+ ## IR ground truth
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+
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+ `ir/gt/<task>.json` records carry `instruction`, `gt_target`, `candidates`, `image_path`
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+ and per-candidate `bboxes_2d` (720×720 pixels), plus the camera and scene geometry the
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+ scorer uses. Placement tasks are scored on the destination; tolerant and strict accuracy
106
+ are defined in the paper.
107
+
108
+ 12 tasks also have a `mask_path`: a single-channel 720×720 PNG of instance labels
109
+ (pixel value `i` = `mask_names[i-1]`, `0` = background; it looks black in an image
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+ viewer). A predicted point scores on the object whose mask it lands on.
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+ `reach_paperback_book` and `reach_hardback_from_bookcase` are scored on the boxes.
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+
113
+ ## Evaluation instances
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+
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+ `action/eval/**` holds the BDDL task definitions and task-relevant-object (`_tro.json`)
116
+ files that the simulator harness loads. The 2025-scene tasks run on OmniGibson 3.7.2;
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+ the four restaurant-diner navigation tasks need OmniGibson 3.9.2 / Isaac Sim 5.1
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+ (BEHAVIOR-1K 2026 assets). Each instance's `goal_conditions` sets how it is scored.
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+
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+ The VQA prompt builder, the VQA / IR scorers and the simulator harness are in the
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+ [code release](https://github.com/arielchen07/BEHAVIOR-Spatial-benchmark).
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+
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+ ## License
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+
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+ This dataset is released under the MIT License, matching the BEHAVIOR-1K demonstrations
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+ it builds on. It contains rendered images and videos, annotations, and task definitions,
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+ but no 3D assets. Running the simulator evaluation requires the BEHAVIOR-1K scene and
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+ object assets, which are distributed separately under the
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+ [BEHAVIOR Data Bundle End User License Agreement](https://behavior.stanford.edu/)
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+ (non-commercial academic research only).
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+
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+ ## Citation
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+
134
+ ```bibtex
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+ @article{chen2026behaviorspatial,
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+ title = {{BEHAVIOR-Spatial} Benchmark: Evaluating Spatial Understanding for Robotics},
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+ author = {Chen, Sirui and Huang, Huang and Wang, Qineng and Huang, Wenlong and Li, Manling and Zhang, Ruohan and Fei-Fei, Li and Wu, Jiajun},
138
+ journal = {arXiv preprint arXiv:2610.34051},
139
+ year = {2026}
140
+ }
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+ ```
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480050.bddl ADDED
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+ (define (problem canning_food-0)
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+ (:domain omnigibson)
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+
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+ (:objects
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+ steak.n.01_1 - steak.n.01
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+ diced__steak.n.01_1 - diced__steak.n.01
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+ pineapple.n.02_1 - pineapple.n.02
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+ diced__pineapple.n.01_1 - diced__pineapple.n.01
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+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
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+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
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+ cabinet.n.01_1 - cabinet.n.01
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+ chopping_board.n.01_1 - chopping_board.n.01
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+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
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+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
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+ )
18
+
19
+ (:init
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+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
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+ (ontop chopping_board.n.01_1 countertop.n.01_1)
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+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
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+ (inroom cabinet.n.01_1 kitchen)
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+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
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+ (inroom floor.n.01_1 kitchen)
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+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
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+ (inside bowl.n.01_1 cabinet.n.01_1)
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+ )
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+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480050.json ADDED
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+ {
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+ "task_name": "canning_food",
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+ "test_task_name": "place_bowl_in_cabinet",
4
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480050_tro.json ADDED
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+ "previously_touching": false,
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+ "names": [
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+ ],
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480260.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_1 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480260.json ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
+ "task_type": "place",
6
+ "skill_description": "place",
7
+ "demo_id": 480260,
8
+ "variant_id": "v0",
9
+ "split_role": "held_out",
10
+ "instruction": "Place the bowl in the layer 3 of the bottom cabinet.",
11
+ "spatial_relation": "layer_3",
12
+ "target_object_id": [
13
+ "bowl_210",
14
+ "bottom_cabinet_fancyy_0"
15
+ ],
16
+ "target_bddl_ref": "bowl.n.01_1",
17
+ "candidate_bddl_refs": [
18
+ "bowl.n.01_2",
19
+ "bowl.n.01_1"
20
+ ],
21
+ "max_steps": 7000,
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+ "type": "in_layer",
26
+ "obj": "bowl.n.01_1",
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+ "obj_sim_id": "bowl_210",
28
+ "ref": "cabinet.n.01_1",
29
+ "ref_sim_id": "bottom_cabinet_fancyy_0",
30
+ "layer": 3,
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+ "z_min": 0.763122484087944,
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+ "z_max": 1.0769584476947784,
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+ "held_objs": [
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+ "bowl.n.01_1"
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+ ]
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+ }
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+ ],
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+ ],
80
+ "ir_destination_meta": {
81
+ "layer": 3
82
+ }
83
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480260_tro.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ }
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+ {
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+ "arm": "right"
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+ ],
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+ "open_doors": {
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+ "names": [
393
+ "bottom_cabinet_fancyy_0"
394
+ ],
395
+ "joint_names": [
396
+ "j_door2"
397
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398
+ }
399
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480610.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_2 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480610.json ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
+ "task_type": "place",
6
+ "skill_description": "place",
7
+ "demo_id": 480610,
8
+ "variant_id": "v0",
9
+ "split_role": "held_out",
10
+ "instruction": "Place the bowl in the layer 3 of the bottom cabinet.",
11
+ "spatial_relation": "layer_3",
12
+ "target_object_id": [
13
+ "bowl_209",
14
+ "bottom_cabinet_fancyy_0"
15
+ ],
16
+ "target_bddl_ref": "bowl.n.01_2",
17
+ "candidate_bddl_refs": [
18
+ "bowl.n.01_2",
19
+ "bowl.n.01_1"
20
+ ],
21
+ "max_steps": 7000,
22
+ "objects": [],
23
+ "goal_conditions": [
24
+ {
25
+ "type": "in_layer",
26
+ "obj": "bowl.n.01_2",
27
+ "obj_sim_id": "bowl_209",
28
+ "ref": "cabinet.n.01_1",
29
+ "ref_sim_id": "bottom_cabinet_fancyy_0",
30
+ "layer": 3,
31
+ "z_min": 0.763122484087944,
32
+ "z_max": 1.0769584476947784,
33
+ "held_objs": [
34
+ "bowl.n.01_2"
35
+ ]
36
+ }
37
+ ],
38
+ "ir_destination_corners_3d": [
39
+ [
40
+ 8.77,
41
+ -1.62,
42
+ 0.783122484087944
43
+ ],
44
+ [
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+ ],
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66
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71
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+ ],
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75
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76
+ -1.58,
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+ ]
79
+ ],
80
+ "ir_destination_meta": {
81
+ "layer": 3
82
+ }
83
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480610_tro.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
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4
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+ "Temperature": {
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+ "temperature": 23.0
30
+ }
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+ }
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+ },
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+ "bowl.n.01_2": {
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+ "root_link": {
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55
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56
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57
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58
+ "non_kin": {
59
+ "Temperature": {
60
+ "temperature": 23.0
61
+ }
62
+ }
63
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480650.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
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+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
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+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
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14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
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+
19
+ (:init
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+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
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+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
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+ (inside bowl.n.01_1 cabinet.n.01_1)
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+ (inside bowl.n.01_2 cabinet.n.01_1)
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+ (ontop chopping_board.n.01_1 countertop.n.01_1)
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+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
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+ (inroom cabinet.n.01_1 kitchen)
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+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
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+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_1 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480650.json ADDED
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1
+ {
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+ "task_name": "canning_food",
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+ "test_task_name": "place_bowl_in_cabinet",
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+ "slice": "held_out",
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+ "task_type": "place",
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+ "skill_description": "place",
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+ "demo_id": 480650,
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+ "split_role": "held_out",
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+ "instruction": "Place the bowl in the layer 3 of the bottom cabinet.",
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+ "spatial_relation": "layer_3",
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480650_tro.json ADDED
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480700.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
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+ steak.n.01_1 - steak.n.01
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+ diced__steak.n.01_1 - diced__steak.n.01
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+ pineapple.n.02_1 - pineapple.n.02
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+ diced__pineapple.n.01_1 - diced__pineapple.n.01
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+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
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+ cabinet.n.01_1 - cabinet.n.01
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+ chopping_board.n.01_1 - chopping_board.n.01
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+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
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+
19
+ (:init
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+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
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+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
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+ (inside bowl.n.01_1 cabinet.n.01_1)
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+ (inside bowl.n.01_2 cabinet.n.01_1)
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+ (ontop chopping_board.n.01_1 countertop.n.01_1)
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+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
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+ (inroom cabinet.n.01_1 kitchen)
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+ (inroom electric_refrigerator.n.01_1 kitchen)
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+ (inroom countertop.n.01_1 kitchen)
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+ (inroom floor.n.01_1 kitchen)
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+ (future diced__pineapple.n.01_1)
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+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_1 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480700.json ADDED
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1
+ {
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+ "task_name": "canning_food",
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+ "test_task_name": "place_bowl_in_cabinet",
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+ "slice": "held_out",
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+ "task_type": "place",
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+ "skill_description": "place",
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+ "demo_id": 480700,
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+ "variant_id": "v0",
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+ "split_role": "held_out",
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+ "instruction": "Place the bowl in the layer 3 of the bottom cabinet.",
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+ "spatial_relation": "layer_3",
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+ "target_object_id": [
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00480700_tro.json ADDED
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+ {
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+ ],
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00481270.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_1 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00481270.json ADDED
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1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
+ "task_type": "place",
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+ "skill_description": "place",
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+ "demo_id": 481270,
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+ "variant_id": "v0",
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+ "split_role": "held_out",
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+ "instruction": "Place the bowl in the layer 3 of the bottom cabinet.",
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+ "spatial_relation": "layer_3",
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+ "target_object_id": [
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+ "bowl_210",
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+ "bottom_cabinet_fancyy_0"
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+ ],
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+ "target_bddl_ref": "bowl.n.01_1",
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+ "candidate_bddl_refs": [
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+ "bowl.n.01_2",
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+ "bowl.n.01_1"
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+ ],
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+ "max_steps": 7000,
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+ "goal_conditions": [
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+ {
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+ "type": "in_layer",
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+ "obj": "bowl.n.01_1",
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+ "obj_sim_id": "bowl_210",
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+ "ref": "cabinet.n.01_1",
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+ "ref_sim_id": "bottom_cabinet_fancyy_0",
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+ "ir_destination_meta": {
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+ "layer": 3
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+ }
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+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00481270_tro.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ 0.030683981254696846,
361
+ -0.5890886783599854,
362
+ -0.5454040169715881,
363
+ 0.07704344391822815
364
+ ],
365
+ "arm_right_qvel": [
366
+ 0.0,
367
+ 0.0,
368
+ 0.0,
369
+ 0.0,
370
+ 0.0,
371
+ 0.0,
372
+ 0.0
373
+ ],
374
+ "gripper_right_qpos": [
375
+ 0.04999994486570358,
376
+ 0.04999954625964165
377
+ ],
378
+ "gripper_right_qvel": [
379
+ 0.0,
380
+ 0.0
381
+ ]
382
+ }
383
+ ]
384
+ },
385
+ "grasps": [
386
+ {
387
+ "obj": "bowl.n.01_1",
388
+ "arm": "left"
389
+ }
390
+ ],
391
+ "open_doors": {
392
+ "names": [
393
+ "bottom_cabinet_fancyy_0"
394
+ ],
395
+ "joint_names": [
396
+ "j_door2"
397
+ ]
398
+ }
399
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00482010.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_2 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00482010.json ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
+ "task_type": "place",
6
+ "skill_description": "place",
7
+ "demo_id": 482010,
8
+ "variant_id": "v0",
9
+ "split_role": "held_out",
10
+ "instruction": "Place the bowl in the layer 3 of the bottom cabinet.",
11
+ "spatial_relation": "layer_3",
12
+ "target_object_id": [
13
+ "bowl_209",
14
+ "bottom_cabinet_fancyy_0"
15
+ ],
16
+ "target_bddl_ref": "bowl.n.01_2",
17
+ "candidate_bddl_refs": [
18
+ "bowl.n.01_2",
19
+ "bowl.n.01_1"
20
+ ],
21
+ "max_steps": 7000,
22
+ "objects": [],
23
+ "goal_conditions": [
24
+ {
25
+ "type": "in_layer",
26
+ "obj": "bowl.n.01_2",
27
+ "obj_sim_id": "bowl_209",
28
+ "ref": "cabinet.n.01_1",
29
+ "ref_sim_id": "bottom_cabinet_fancyy_0",
30
+ "layer": 3,
31
+ "z_min": 0.763122484087944,
32
+ "z_max": 1.0769584476947784,
33
+ "held_objs": [
34
+ "bowl.n.01_2"
35
+ ]
36
+ }
37
+ ],
38
+ "ir_destination_corners_3d": [
39
+ [
40
+ 8.77,
41
+ -1.62,
42
+ 0.783122484087944
43
+ ],
44
+ [
45
+ 8.77,
46
+ -1.62,
47
+ 1.0569584476947784
48
+ ],
49
+ [
50
+ 8.77,
51
+ -1.58,
52
+ 0.783122484087944
53
+ ],
54
+ [
55
+ 8.77,
56
+ -1.58,
57
+ 1.0569584476947784
58
+ ],
59
+ [
60
+ 9.3,
61
+ -1.62,
62
+ 0.783122484087944
63
+ ],
64
+ [
65
+ 9.3,
66
+ -1.62,
67
+ 1.0569584476947784
68
+ ],
69
+ [
70
+ 9.3,
71
+ -1.58,
72
+ 0.783122484087944
73
+ ],
74
+ [
75
+ 9.3,
76
+ -1.58,
77
+ 1.0569584476947784
78
+ ]
79
+ ],
80
+ "ir_destination_meta": {
81
+ "layer": 3
82
+ }
83
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00482010_tro.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "bowl.n.01_1": {
3
+ "is_asleep": true,
4
+ "root_link": {
5
+ "pos": [
6
+ 5.330446720123291,
7
+ -1.9882746934890747,
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+ ],
10
+ "ori": [
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+ ],
16
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18
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19
+ 0.0
20
+ ],
21
+ "ang_vel": [
22
+ 0.0,
23
+ 0.0,
24
+ 0.0
25
+ ]
26
+ },
27
+ "non_kin": {
28
+ "Temperature": {
29
+ "temperature": 23.0
30
+ }
31
+ }
32
+ },
33
+ "bowl.n.01_2": {
34
+ "is_asleep": true,
35
+ "root_link": {
36
+ "pos": [
37
+ 9.476457595825195,
38
+ -0.775947093963623,
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+ 0.6510729789733887
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+ ],
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+ "ori": [
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+ -0.20824116533444653,
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+ 0.9574897803296216
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+ ],
47
+ "lin_vel": [
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+ 0.0,
49
+ 0.0,
50
+ 0.0
51
+ ],
52
+ "ang_vel": [
53
+ 0.0,
54
+ 0.0,
55
+ 0.0
56
+ ]
57
+ },
58
+ "non_kin": {
59
+ "Temperature": {
60
+ "temperature": 23.0
61
+ }
62
+ }
63
+ },
64
+ "cabinet.n.01_1": {
65
+ "is_asleep": true,
66
+ "root_link": {
67
+ "pos": [
68
+ 8.73906135559082,
69
+ -1.9643160104751587,
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+ 1.1173824071884155
71
+ ],
72
+ "ori": [
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+ 3.2068779638549388e-09,
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+ ],
78
+ "lin_vel": [
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80
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82
+ ],
83
+ "ang_vel": [
84
+ 0.0,
85
+ 0.0,
86
+ 0.0
87
+ ]
88
+ },
89
+ "non_kin": {
90
+ "Temperature": {
91
+ "temperature": 23.0
92
+ }
93
+ }
94
+ },
95
+ "carving_knife.n.01_1": {
96
+ "is_asleep": false,
97
+ "root_link": {
98
+ "pos": [
99
+ 5.418355941772461,
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+ -1.689740777015686,
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+ 0.8935449123382568
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+ ],
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+ "ori": [
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+ ],
109
+ "lin_vel": [
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111
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112
+ 0.0
113
+ ],
114
+ "ang_vel": [
115
+ 0.0,
116
+ 0.0,
117
+ 0.0
118
+ ]
119
+ },
120
+ "non_kin": {
121
+ "SlicerActive": {
122
+ "value": true,
123
+ "previously_touching": false,
124
+ "delay_counter": 0
125
+ }
126
+ }
127
+ },
128
+ "chopping_board.n.01_1": {
129
+ "is_asleep": false,
130
+ "root_link": {
131
+ "pos": [
132
+ 6.066043853759766,
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+ -1.813196063041687,
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+ 0.9020456075668335
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+ ],
136
+ "ori": [
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+ -0.0003412520979884703,
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+ -0.06834513445400722,
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+ ],
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+ "lin_vel": [
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+ 0.0,
145
+ 0.0
146
+ ],
147
+ "ang_vel": [
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+ 0.0,
149
+ 0.0,
150
+ 0.0
151
+ ]
152
+ },
153
+ "non_kin": {}
154
+ },
155
+ "countertop.n.01_1": {
156
+ "is_asleep": false,
157
+ "root_link": {
158
+ "pos": [
159
+ 6.0294647216796875,
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+ -1.9837117195129395,
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+ 0.8694865107536316
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+ ],
163
+ "ori": [
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+ 0.6691307101077686,
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+ ],
169
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173
+ ],
174
+ "ang_vel": [
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176
+ 0.0,
177
+ 0.0
178
+ ]
179
+ },
180
+ "non_kin": {}
181
+ },
182
+ "electric_refrigerator.n.01_1": {
183
+ "is_asleep": true,
184
+ "root_link": {
185
+ "pos": [
186
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200
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201
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202
+ 0.0,
203
+ 0.0,
204
+ 0.0
205
+ ]
206
+ },
207
+ "non_kin": {
208
+ "Temperature": {
209
+ "temperature": 23.0
210
+ }
211
+ }
212
+ },
213
+ "floor.n.01_1": {
214
+ "is_asleep": false,
215
+ "root_link": {
216
+ "pos": [
217
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221
+ "ori": [
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+ 0.0,
224
+ 0.0,
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+ 1.0
226
+ ]
227
+ },
228
+ "non_kin": {}
229
+ },
230
+ "pineapple.n.02_1": {
231
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232
+ "root_link": {
233
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+ "ori": [
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244
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251
+ 0.0,
252
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253
+ ]
254
+ },
255
+ "non_kin": {
256
+ "Temperature": {
257
+ "temperature": -5.642167091369629
258
+ },
259
+ "MaxTemperature": {
260
+ "max_temperature": 23.0
261
+ }
262
+ }
263
+ },
264
+ "steak.n.01_1": {
265
+ "is_asleep": true,
266
+ "root_link": {
267
+ "pos": [
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+ ],
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+ "ori": [
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+ "lin_vel": [
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+ ],
283
+ "ang_vel": [
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285
+ 0.0,
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+ 0.0
287
+ ]
288
+ },
289
+ "non_kin": {
290
+ "Temperature": {
291
+ "temperature": -5.642167091369629
292
+ },
293
+ "MaxTemperature": {
294
+ "max_temperature": 23.0
295
+ }
296
+ }
297
+ },
298
+ "robot_poses": {
299
+ "R1Pro": [
300
+ {
301
+ "position": [
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+ ],
306
+ "orientation": [
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+ -0.26986556593565286,
310
+ 0.9628975700693058
311
+ ]
312
+ }
313
+ ]
314
+ },
315
+ "robot_joints": {
316
+ "R1Pro": [
317
+ {
318
+ "trunk_qpos": [
319
+ 1.0978305339813232,
320
+ -1.5830583572387695,
321
+ -0.45618417859077454,
322
+ -0.00011414708569645882
323
+ ],
324
+ "trunk_qvel": [
325
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326
+ 0.0,
327
+ 0.0,
328
+ 0.0
329
+ ],
330
+ "arm_left_qpos": [
331
+ -0.6840461492538452,
332
+ 0.4653904139995575,
333
+ 1.564498782157898,
334
+ -0.26696041226387024,
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+ -1.5651072263717651,
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+ -1.0558381080627441
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+ ],
339
+ "arm_left_qvel": [
340
+ 0.0,
341
+ 0.0,
342
+ 0.0,
343
+ 0.0,
344
+ 0.0,
345
+ 0.0,
346
+ 0.0
347
+ ],
348
+ "gripper_left_qpos": [
349
+ 0.019685393199324608,
350
+ 4.901011720903625e-07
351
+ ],
352
+ "gripper_left_qvel": [
353
+ 0.0,
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+ 0.0
355
+ ],
356
+ "arm_right_qpos": [
357
+ -0.18444082140922546,
358
+ 0.04807838052511215,
359
+ 0.4941824674606323,
360
+ -0.018703842535614967,
361
+ -1.0881861448287964,
362
+ -0.3725733458995819,
363
+ 0.245321586728096
364
+ ],
365
+ "arm_right_qvel": [
366
+ 0.0,
367
+ 0.0,
368
+ 0.0,
369
+ 0.0,
370
+ 0.0,
371
+ 0.0,
372
+ 0.0
373
+ ],
374
+ "gripper_right_qpos": [
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+ 0.05000000074505806,
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+ 0.05000000074505806
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+ ],
378
+ "gripper_right_qvel": [
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+ 0.0,
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+ 0.0
381
+ ]
382
+ }
383
+ ]
384
+ },
385
+ "grasps": [
386
+ {
387
+ "obj": "bowl.n.01_2",
388
+ "arm": "left"
389
+ }
390
+ ],
391
+ "open_doors": {
392
+ "names": [
393
+ "bottom_cabinet_fancyy_0"
394
+ ],
395
+ "joint_names": [
396
+ "j_door2"
397
+ ]
398
+ }
399
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00482480.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_2 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00482480.json ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
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+ "skill_description": "place",
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+ "demo_id": 482480,
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+ "instruction": "Place the bowl in the layer 3 of the bottom cabinet.",
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+ "spatial_relation": "layer_3",
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+ "target_object_id": [
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+ "bowl_209",
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+ "bottom_cabinet_fancyy_0"
15
+ ],
16
+ "target_bddl_ref": "bowl.n.01_2",
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+ "candidate_bddl_refs": [
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+ "bowl.n.01_2",
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+ "bowl.n.01_1"
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+ ],
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+ "max_steps": 7000,
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+ "objects": [],
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+ "goal_conditions": [
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+ "ref": "cabinet.n.01_1",
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+ "ref_sim_id": "bottom_cabinet_fancyy_0",
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+ ],
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+ "ir_destination_meta": {
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+ "layer": 3
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+ }
83
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v0_ep00482480_tro.json ADDED
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1
+ {
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+ "bowl.n.01_2": {
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+ }
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+ }
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+ }
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+ "previously_touching": false,
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+ "delay_counter": 0
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+ }
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+ }
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+ },
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+ "chopping_board.n.01_1": {
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+ "arm": "left"
389
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390
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+ "open_doors": {
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+ "names": [
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394
+ ],
395
+ "joint_names": [
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+ "j_door2"
397
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398
+ }
399
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480260.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_1 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480260.json ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
+ "task_type": "place",
6
+ "skill_description": "place",
7
+ "demo_id": 480260,
8
+ "variant_id": "v1",
9
+ "split_role": "held_out",
10
+ "instruction": "Place the bowl in the layer 4 of the bottom cabinet.",
11
+ "spatial_relation": "layer_4",
12
+ "target_object_id": [
13
+ "bowl_210",
14
+ "bottom_cabinet_fancyy_0"
15
+ ],
16
+ "target_bddl_ref": "bowl.n.01_1",
17
+ "candidate_bddl_refs": [
18
+ "bowl.n.01_2",
19
+ "bowl.n.01_1"
20
+ ],
21
+ "max_steps": 7000,
22
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23
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+ {
25
+ "type": "in_layer",
26
+ "obj": "bowl.n.01_1",
27
+ "obj_sim_id": "bowl_210",
28
+ "ref": "cabinet.n.01_1",
29
+ "ref_sim_id": "bottom_cabinet_fancyy_0",
30
+ "layer": 4,
31
+ "z_min": 1.0769584476947784,
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+ "z_max": 1.391966164112091,
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+ "held_objs": [
34
+ "bowl.n.01_1"
35
+ ]
36
+ }
37
+ ],
38
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480260_tro.json ADDED
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480560.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_2 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480560.json ADDED
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1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
+ "task_type": "place",
6
+ "skill_description": "place",
7
+ "demo_id": 480560,
8
+ "variant_id": "v1",
9
+ "split_role": "held_out",
10
+ "instruction": "Place the bowl in the layer 4 of the bottom cabinet.",
11
+ "spatial_relation": "layer_4",
12
+ "target_object_id": [
13
+ "bowl_209",
14
+ "bottom_cabinet_fancyy_0"
15
+ ],
16
+ "target_bddl_ref": "bowl.n.01_2",
17
+ "candidate_bddl_refs": [
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+ "bowl.n.01_2",
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+ "bowl.n.01_1"
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+ ],
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+ "max_steps": 7000,
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+ {
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+ "type": "in_layer",
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+ "obj": "bowl.n.01_2",
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+ "obj_sim_id": "bowl_209",
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+ "ref": "cabinet.n.01_1",
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+ "ref_sim_id": "bottom_cabinet_fancyy_0",
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+ "layer": 4,
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+ "z_min": 1.0769584476947784,
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+ "z_max": 1.391966164112091,
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+ "held_objs": [
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35
+ ]
36
+ }
37
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38
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480560_tro.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480900.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
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+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
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+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
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+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
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+ (inside bowl.n.01_1 cabinet.n.01_1)
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+ (inside bowl.n.01_2 cabinet.n.01_1)
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+ (ontop chopping_board.n.01_1 countertop.n.01_1)
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+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
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+ (inroom cabinet.n.01_1 kitchen)
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+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
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+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_1 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480900.json ADDED
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1
+ {
2
+ "task_name": "canning_food",
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+ "test_task_name": "place_bowl_in_cabinet",
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+ "slice": "held_out",
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+ "task_type": "place",
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+ "skill_description": "place",
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+ "demo_id": 480900,
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+ "variant_id": "v1",
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+ "split_role": "held_out",
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+ "instruction": "Place the bowl in the layer 4 of the bottom cabinet.",
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+ "spatial_relation": "layer_4",
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+ "target_object_id": [
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+ }
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00480900_tro.json ADDED
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00481200.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
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+ steak.n.01_1 - steak.n.01
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+ diced__steak.n.01_1 - diced__steak.n.01
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+ pineapple.n.02_1 - pineapple.n.02
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+ diced__pineapple.n.01_1 - diced__pineapple.n.01
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+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
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11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
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14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
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+
19
+ (:init
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+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
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+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
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+ (inside bowl.n.01_1 cabinet.n.01_1)
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+ (inside bowl.n.01_2 cabinet.n.01_1)
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+ (ontop chopping_board.n.01_1 countertop.n.01_1)
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+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
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+ (inroom cabinet.n.01_1 kitchen)
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+ (inroom electric_refrigerator.n.01_1 kitchen)
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+ (inroom countertop.n.01_1 kitchen)
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+ (inroom floor.n.01_1 kitchen)
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+ (future diced__pineapple.n.01_1)
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+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_2 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00481200.json ADDED
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1
+ {
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+ "task_name": "canning_food",
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+ "test_task_name": "place_bowl_in_cabinet",
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+ "slice": "held_out",
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+ "task_type": "place",
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+ "skill_description": "place",
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+ "demo_id": 481200,
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+ "variant_id": "v1",
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+ "split_role": "held_out",
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+ "instruction": "Place the bowl in the layer 4 of the bottom cabinet.",
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+ "spatial_relation": "layer_4",
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+ "target_object_id": [
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+ "bowl_209",
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+ "target_bddl_ref": "bowl.n.01_2",
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+ "candidate_bddl_refs": [
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00481200_tro.json ADDED
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00481780.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_2 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00481780.json ADDED
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1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
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+ "slice": "held_out",
5
+ "task_type": "place",
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+ "skill_description": "place",
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+ "demo_id": 481780,
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+ "variant_id": "v1",
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+ "split_role": "held_out",
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+ "instruction": "Place the bowl in the layer 4 of the bottom cabinet.",
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+ "spatial_relation": "layer_4",
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+ "target_object_id": [
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+ "bowl_209",
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+ "bottom_cabinet_fancyy_0"
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+ "target_bddl_ref": "bowl.n.01_2",
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+ "candidate_bddl_refs": [
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+ "bowl.n.01_2",
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+ "bowl.n.01_1"
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+ "max_steps": 7000,
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+ "type": "in_layer",
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+ "obj": "bowl.n.01_2",
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+ "obj_sim_id": "bowl_209",
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+ "ref": "cabinet.n.01_1",
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+ "ir_destination_meta": {
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+ "layer": 4
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+ }
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+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00481780_tro.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ 0.0,
354
+ 0.0
355
+ ],
356
+ "arm_right_qpos": [
357
+ -0.21685908734798431,
358
+ 0.026167387142777443,
359
+ 0.0724124014377594,
360
+ 0.04983198642730713,
361
+ -0.5650953650474548,
362
+ -0.47485092282295227,
363
+ 0.2527904808521271
364
+ ],
365
+ "arm_right_qvel": [
366
+ 0.0,
367
+ 0.0,
368
+ 0.0,
369
+ 0.0,
370
+ 0.0,
371
+ 0.0,
372
+ 0.0
373
+ ],
374
+ "gripper_right_qpos": [
375
+ 0.04999992623925209,
376
+ 0.04999914392828941
377
+ ],
378
+ "gripper_right_qvel": [
379
+ 0.0,
380
+ 0.0
381
+ ]
382
+ }
383
+ ]
384
+ },
385
+ "grasps": [
386
+ {
387
+ "obj": "bowl.n.01_2",
388
+ "arm": "left"
389
+ }
390
+ ],
391
+ "open_doors": {
392
+ "names": [
393
+ "bottom_cabinet_fancyy_0"
394
+ ],
395
+ "joint_names": [
396
+ "j_door2"
397
+ ]
398
+ }
399
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482180.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_1 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482180.json ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
+ "task_type": "place",
6
+ "skill_description": "place",
7
+ "demo_id": 482180,
8
+ "variant_id": "v1",
9
+ "split_role": "held_out",
10
+ "instruction": "Place the bowl in the layer 4 of the bottom cabinet.",
11
+ "spatial_relation": "layer_4",
12
+ "target_object_id": [
13
+ "bowl_210",
14
+ "bottom_cabinet_fancyy_0"
15
+ ],
16
+ "target_bddl_ref": "bowl.n.01_1",
17
+ "candidate_bddl_refs": [
18
+ "bowl.n.01_2",
19
+ "bowl.n.01_1"
20
+ ],
21
+ "max_steps": 7000,
22
+ "objects": [],
23
+ "goal_conditions": [
24
+ {
25
+ "type": "in_layer",
26
+ "obj": "bowl.n.01_1",
27
+ "obj_sim_id": "bowl_210",
28
+ "ref": "cabinet.n.01_1",
29
+ "ref_sim_id": "bottom_cabinet_fancyy_0",
30
+ "layer": 4,
31
+ "z_min": 1.0769584476947784,
32
+ "z_max": 1.391966164112091,
33
+ "held_objs": [
34
+ "bowl.n.01_1"
35
+ ]
36
+ }
37
+ ],
38
+ "ir_destination_corners_3d": [
39
+ [
40
+ 8.77,
41
+ -1.62,
42
+ 1.0969584476947785
43
+ ],
44
+ [
45
+ 8.77,
46
+ -1.62,
47
+ 1.371966164112091
48
+ ],
49
+ [
50
+ 8.77,
51
+ -1.58,
52
+ 1.0969584476947785
53
+ ],
54
+ [
55
+ 8.77,
56
+ -1.58,
57
+ 1.371966164112091
58
+ ],
59
+ [
60
+ 9.3,
61
+ -1.62,
62
+ 1.0969584476947785
63
+ ],
64
+ [
65
+ 9.3,
66
+ -1.62,
67
+ 1.371966164112091
68
+ ],
69
+ [
70
+ 9.3,
71
+ -1.58,
72
+ 1.0969584476947785
73
+ ],
74
+ [
75
+ 9.3,
76
+ -1.58,
77
+ 1.371966164112091
78
+ ]
79
+ ],
80
+ "ir_destination_meta": {
81
+ "layer": 4
82
+ }
83
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482180_tro.json ADDED
@@ -0,0 +1,399 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "bowl.n.01_1": {
3
+ "is_asleep": true,
4
+ "root_link": {
5
+ "pos": [
6
+ 9.517339706420898,
7
+ -0.5284133553504944,
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+ ],
10
+ "ori": [
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+ ],
16
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18
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19
+ 0.0
20
+ ],
21
+ "ang_vel": [
22
+ 0.0,
23
+ 0.0,
24
+ 0.0
25
+ ]
26
+ },
27
+ "non_kin": {
28
+ "Temperature": {
29
+ "temperature": 23.0
30
+ }
31
+ }
32
+ },
33
+ "bowl.n.01_2": {
34
+ "is_asleep": true,
35
+ "root_link": {
36
+ "pos": [
37
+ 5.332190990447998,
38
+ -2.028400421142578,
39
+ 0.9588266611099243
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+ ],
41
+ "ori": [
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43
+ -5.0940357777668405e-06,
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+ 0.9452662745426736
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+ ],
47
+ "lin_vel": [
48
+ 0.0,
49
+ 0.0,
50
+ 0.0
51
+ ],
52
+ "ang_vel": [
53
+ 0.0,
54
+ 0.0,
55
+ 0.0
56
+ ]
57
+ },
58
+ "non_kin": {
59
+ "Temperature": {
60
+ "temperature": 23.0
61
+ }
62
+ }
63
+ },
64
+ "cabinet.n.01_1": {
65
+ "is_asleep": true,
66
+ "root_link": {
67
+ "pos": [
68
+ 8.73906135559082,
69
+ -1.9643160104751587,
70
+ 1.1173826456069946
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+ ],
72
+ "ori": [
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+ 3.2068779638549388e-09,
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+ ],
78
+ "lin_vel": [
79
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80
+ 0.0,
81
+ 0.0
82
+ ],
83
+ "ang_vel": [
84
+ 0.0,
85
+ 0.0,
86
+ 0.0
87
+ ]
88
+ },
89
+ "non_kin": {
90
+ "Temperature": {
91
+ "temperature": 23.0
92
+ }
93
+ }
94
+ },
95
+ "carving_knife.n.01_1": {
96
+ "is_asleep": false,
97
+ "root_link": {
98
+ "pos": [
99
+ 5.433094024658203,
100
+ -1.7231470346450806,
101
+ 0.893545925617218
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+ ],
103
+ "ori": [
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+ -0.00013885240521334258,
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+ -0.8103943584748398,
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+ ],
109
+ "lin_vel": [
110
+ 0.0,
111
+ 0.0,
112
+ 0.0
113
+ ],
114
+ "ang_vel": [
115
+ 0.0,
116
+ 0.0,
117
+ 0.0
118
+ ]
119
+ },
120
+ "non_kin": {
121
+ "SlicerActive": {
122
+ "value": true,
123
+ "previously_touching": false,
124
+ "delay_counter": 0
125
+ }
126
+ }
127
+ },
128
+ "chopping_board.n.01_1": {
129
+ "is_asleep": false,
130
+ "root_link": {
131
+ "pos": [
132
+ 6.065199375152588,
133
+ -1.8196817636489868,
134
+ 0.9020455479621887
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+ ],
136
+ "ori": [
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+ -2.197083391680892e-05,
138
+ -0.00033933353952531715,
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+ 0.012544984311364601,
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+ 0.9999212507686087
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+ ],
142
+ "lin_vel": [
143
+ 0.0,
144
+ 0.0,
145
+ 0.0
146
+ ],
147
+ "ang_vel": [
148
+ 0.0,
149
+ 0.0,
150
+ 0.0
151
+ ]
152
+ },
153
+ "non_kin": {}
154
+ },
155
+ "countertop.n.01_1": {
156
+ "is_asleep": false,
157
+ "root_link": {
158
+ "pos": [
159
+ 6.0294647216796875,
160
+ -1.9837117195129395,
161
+ 0.8694865107536316
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+ ],
163
+ "ori": [
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+ 7.628954059933195e-11,
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+ 6.8691430178645e-11,
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+ 0.6691307101077686,
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+ ],
169
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170
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171
+ 0.0,
172
+ 0.0
173
+ ],
174
+ "ang_vel": [
175
+ 0.0,
176
+ 0.0,
177
+ 0.0
178
+ ]
179
+ },
180
+ "non_kin": {}
181
+ },
182
+ "electric_refrigerator.n.01_1": {
183
+ "is_asleep": true,
184
+ "root_link": {
185
+ "pos": [
186
+ 7.81859016418457,
187
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+ ],
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+ "ori": [
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196
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200
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201
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202
+ 0.0,
203
+ 0.0,
204
+ 0.0
205
+ ]
206
+ },
207
+ "non_kin": {
208
+ "Temperature": {
209
+ "temperature": 23.0
210
+ }
211
+ }
212
+ },
213
+ "floor.n.01_1": {
214
+ "is_asleep": false,
215
+ "root_link": {
216
+ "pos": [
217
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+ ],
221
+ "ori": [
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+ 0.0,
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+ 0.0,
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+ 1.0
226
+ ]
227
+ },
228
+ "non_kin": {}
229
+ },
230
+ "pineapple.n.02_1": {
231
+ "is_asleep": true,
232
+ "root_link": {
233
+ "pos": [
234
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+ -1.7519779205322266,
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+ ],
238
+ "ori": [
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244
+ "lin_vel": [
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249
+ "ang_vel": [
250
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251
+ 0.0,
252
+ 0.0
253
+ ]
254
+ },
255
+ "non_kin": {
256
+ "Temperature": {
257
+ "temperature": -5.642167091369629
258
+ },
259
+ "MaxTemperature": {
260
+ "max_temperature": 23.0
261
+ }
262
+ }
263
+ },
264
+ "steak.n.01_1": {
265
+ "is_asleep": true,
266
+ "root_link": {
267
+ "pos": [
268
+ 7.8129682540893555,
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+ -1.8167073726654053,
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+ 1.3053094148635864
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+ ],
272
+ "ori": [
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+ -0.414238840341568,
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+ "lin_vel": [
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+ ],
283
+ "ang_vel": [
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+ 0.0,
286
+ 0.0
287
+ ]
288
+ },
289
+ "non_kin": {
290
+ "Temperature": {
291
+ "temperature": -5.642167091369629
292
+ },
293
+ "MaxTemperature": {
294
+ "max_temperature": 23.0
295
+ }
296
+ }
297
+ },
298
+ "robot_poses": {
299
+ "R1Pro": [
300
+ {
301
+ "position": [
302
+ 8.761558532714844,
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+ -0.8439063429832458,
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+ 0.00501173734664917
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+ ],
306
+ "orientation": [
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+ 0.0006202509551176574,
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+ -0.13376293582833587,
310
+ 0.9910129329687922
311
+ ]
312
+ }
313
+ ]
314
+ },
315
+ "robot_joints": {
316
+ "R1Pro": [
317
+ {
318
+ "trunk_qpos": [
319
+ 1.1401771306991577,
320
+ -1.6602964401245117,
321
+ -0.46684780716896057,
322
+ 1.1375064786989242e-05
323
+ ],
324
+ "trunk_qvel": [
325
+ 0.0,
326
+ 0.0,
327
+ 0.0,
328
+ 0.0
329
+ ],
330
+ "arm_left_qpos": [
331
+ -0.5965834856033325,
332
+ 0.5752480626106262,
333
+ -0.42930424213409424,
334
+ -0.364950031042099,
335
+ 1.4470065832138062,
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+ 0.6553749442100525,
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+ 0.2715434432029724
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+ ],
339
+ "arm_left_qvel": [
340
+ 0.0,
341
+ 0.0,
342
+ 0.0,
343
+ 0.0,
344
+ 0.0,
345
+ 0.0,
346
+ 0.0
347
+ ],
348
+ "gripper_left_qpos": [
349
+ 0.021725233644247055,
350
+ 2.4863700218702434e-06
351
+ ],
352
+ "gripper_left_qvel": [
353
+ 0.0,
354
+ 0.0
355
+ ],
356
+ "arm_right_qpos": [
357
+ -0.13345776498317719,
358
+ -0.08046586811542511,
359
+ 0.6560808420181274,
360
+ -0.04142409935593605,
361
+ -1.057578682899475,
362
+ -0.337464302778244,
363
+ 0.23543745279312134
364
+ ],
365
+ "arm_right_qvel": [
366
+ 0.0,
367
+ 0.0,
368
+ 0.0,
369
+ 0.0,
370
+ 0.0,
371
+ 0.0,
372
+ 0.0
373
+ ],
374
+ "gripper_right_qpos": [
375
+ 0.049999579787254333,
376
+ 0.04999963566660881
377
+ ],
378
+ "gripper_right_qvel": [
379
+ 0.0,
380
+ 0.0
381
+ ]
382
+ }
383
+ ]
384
+ },
385
+ "grasps": [
386
+ {
387
+ "obj": "bowl.n.01_1",
388
+ "arm": "left"
389
+ }
390
+ ],
391
+ "open_doors": {
392
+ "names": [
393
+ "bottom_cabinet_fancyy_0"
394
+ ],
395
+ "joint_names": [
396
+ "j_door2"
397
+ ]
398
+ }
399
+ }
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482720.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
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+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_1 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482720.json ADDED
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1
+ {
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+ "task_name": "canning_food",
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+ "test_task_name": "place_bowl_in_cabinet",
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+ "slice": "held_out",
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+ "demo_id": 482720,
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+ "spatial_relation": "layer_4",
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+ "bottom_cabinet_fancyy_0"
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+ "target_bddl_ref": "bowl.n.01_1",
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+ "bowl.n.01_2",
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+ "bowl.n.01_1"
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482720_tro.json ADDED
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+ {
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+ "bowl.n.01_2": {
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+ "previously_touching": false,
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+ "delay_counter": 0
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+ "chopping_board.n.01_1": {
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+ }
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+ "open_doors": {
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+ "names": [
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394
+ ],
395
+ "joint_names": [
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+ "j_door2"
397
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398
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action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482730.bddl ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ (define (problem canning_food-0)
2
+ (:domain omnigibson)
3
+
4
+ (:objects
5
+ steak.n.01_1 - steak.n.01
6
+ diced__steak.n.01_1 - diced__steak.n.01
7
+ pineapple.n.02_1 - pineapple.n.02
8
+ diced__pineapple.n.01_1 - diced__pineapple.n.01
9
+ electric_refrigerator.n.01_1 - electric_refrigerator.n.01
10
+ bowl.n.01_1 bowl.n.01_2 - bowl.n.01
11
+ cabinet.n.01_1 - cabinet.n.01
12
+ chopping_board.n.01_1 - chopping_board.n.01
13
+ countertop.n.01_1 - countertop.n.01
14
+ carving_knife.n.01_1 - carving_knife.n.01
15
+ floor.n.01_1 - floor.n.01
16
+ agent.n.01_1 - agent.n.01
17
+ )
18
+
19
+ (:init
20
+ (inside steak.n.01_1 electric_refrigerator.n.01_1)
21
+ (inside pineapple.n.02_1 electric_refrigerator.n.01_1)
22
+ (inside bowl.n.01_1 cabinet.n.01_1)
23
+ (inside bowl.n.01_2 cabinet.n.01_1)
24
+ (ontop chopping_board.n.01_1 countertop.n.01_1)
25
+ (ontop carving_knife.n.01_1 chopping_board.n.01_1)
26
+ (inroom cabinet.n.01_1 kitchen)
27
+ (inroom electric_refrigerator.n.01_1 kitchen)
28
+ (inroom countertop.n.01_1 kitchen)
29
+ (inroom floor.n.01_1 kitchen)
30
+ (future diced__pineapple.n.01_1)
31
+ (future diced__steak.n.01_1)
32
+ (ontop agent.n.01_1 floor.n.01_1)
33
+ )
34
+
35
+ (:goal
36
+ (inside bowl.n.01_2 cabinet.n.01_1)
37
+ )
38
+ )
action/eval/manipulation/held_out/place_bowl_in_cabinet/place_bowl_in_cabinet_v1_ep00482730.json ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "canning_food",
3
+ "test_task_name": "place_bowl_in_cabinet",
4
+ "slice": "held_out",
5
+ "task_type": "place",
6
+ "skill_description": "place",
7
+ "demo_id": 482730,
8
+ "variant_id": "v1",
9
+ "split_role": "held_out",
10
+ "instruction": "Place the bowl in the layer 4 of the bottom cabinet.",
11
+ "spatial_relation": "layer_4",
12
+ "target_object_id": [
13
+ "bowl_209",
14
+ "bottom_cabinet_fancyy_0"
15
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17
+ "candidate_bddl_refs": [
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+ "bowl.n.01_2",
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+ "bowl.n.01_1"
20
+ ],
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+ "max_steps": 7000,
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+ "type": "in_layer",
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+ "obj": "bowl.n.01_2",
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+ "obj_sim_id": "bowl_209",
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+ "ref": "cabinet.n.01_1",
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+ "ref_sim_id": "bottom_cabinet_fancyy_0",
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+ "layer": 4,
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+ "held_objs": [
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+ "bowl.n.01_2"
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+ ]
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+ }
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+ ],
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