Add files using upload-large-folder tool
Browse files- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000002/ep_meta.json +744 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000014/ep_meta.json +653 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000080/ep_meta.json +811 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000083/ep_meta.json +648 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000086/ep_meta.json +652 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000138/ep_meta.json +649 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000143/ep_meta.json +734 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000156/ep_meta.json +806 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000164/ep_meta.json +653 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000169/ep_meta.json +741 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000196/ep_meta.json +681 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000240/ep_meta.json +651 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000254/ep_meta.json +811 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000361/ep_meta.json +678 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000372/ep_meta.json +648 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000405/ep_meta.json +813 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000412/ep_meta.json +807 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000419/ep_meta.json +652 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000488/ep_meta.json +681 -0
- target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000492/ep_meta.json +649 -0
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000002/ep_meta.json
ADDED
|
@@ -0,0 +1,744 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 10,
|
| 3 |
+
"style_id": 10,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_dining_area_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.232802852625,
|
| 14 |
+
0.23286639915,
|
| 15 |
+
0.014759147025
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.0502038361803159,
|
| 47 |
+
1.0
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.5998980819098421,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "counter_1_dining_area_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.232802852625,
|
| 98 |
+
0.23286639915,
|
| 99 |
+
0.014759147025
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.249796168970498,
|
| 131 |
+
1.0
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-0.00010191551475102756,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"carrot",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"food_set1",
|
| 165 |
+
"group1"
|
| 166 |
+
],
|
| 167 |
+
"groups": [
|
| 168 |
+
"vegetable"
|
| 169 |
+
],
|
| 170 |
+
"cat": "carrot",
|
| 171 |
+
"split": "test",
|
| 172 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_4/model.xml"
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"name": "bowl",
|
| 177 |
+
"obj_groups": "bowl",
|
| 178 |
+
"graspable": true,
|
| 179 |
+
"placement": {
|
| 180 |
+
"fixture": "counter_1_dining_area_group",
|
| 181 |
+
"sample_region_kwargs": {
|
| 182 |
+
"ref": "stool_2_room",
|
| 183 |
+
"min_size": [
|
| 184 |
+
0.23981271599999987,
|
| 185 |
+
0.2399972111999999,
|
| 186 |
+
0.09829280159999995
|
| 187 |
+
]
|
| 188 |
+
},
|
| 189 |
+
"size": [
|
| 190 |
+
1.0,
|
| 191 |
+
0.4
|
| 192 |
+
],
|
| 193 |
+
"pos": [
|
| 194 |
+
"ref",
|
| 195 |
+
"ref"
|
| 196 |
+
]
|
| 197 |
+
},
|
| 198 |
+
"type": "object",
|
| 199 |
+
"info": {
|
| 200 |
+
"groups_containing_sampled_obj": [
|
| 201 |
+
"all",
|
| 202 |
+
"bowl",
|
| 203 |
+
"stackable",
|
| 204 |
+
"receptacle",
|
| 205 |
+
"group1",
|
| 206 |
+
"container_set2"
|
| 207 |
+
],
|
| 208 |
+
"groups": [
|
| 209 |
+
"bowl"
|
| 210 |
+
],
|
| 211 |
+
"cat": "bowl",
|
| 212 |
+
"split": "test",
|
| 213 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
|
| 214 |
+
},
|
| 215 |
+
"reset_region": {
|
| 216 |
+
"size": [
|
| 217 |
+
2.249796168970498,
|
| 218 |
+
1.0
|
| 219 |
+
],
|
| 220 |
+
"offset": [
|
| 221 |
+
-0.00010191551475102756,
|
| 222 |
+
0.0,
|
| 223 |
+
0.46
|
| 224 |
+
],
|
| 225 |
+
"name": "geom_0"
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"name": "distr1",
|
| 230 |
+
"fridgable": true,
|
| 231 |
+
"placement": {
|
| 232 |
+
"fixture": "fridge_left_group",
|
| 233 |
+
"size": [
|
| 234 |
+
0.3,
|
| 235 |
+
0.3
|
| 236 |
+
],
|
| 237 |
+
"pos": [
|
| 238 |
+
-0.3,
|
| 239 |
+
1.0
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
"type": "object",
|
| 243 |
+
"info": {
|
| 244 |
+
"groups_containing_sampled_obj": [
|
| 245 |
+
"all",
|
| 246 |
+
"pancake",
|
| 247 |
+
"sweets",
|
| 248 |
+
"food",
|
| 249 |
+
"in_container"
|
| 250 |
+
],
|
| 251 |
+
"groups": [
|
| 252 |
+
"all"
|
| 253 |
+
],
|
| 254 |
+
"cat": "pancake",
|
| 255 |
+
"split": "test",
|
| 256 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes005/model.xml"
|
| 257 |
+
},
|
| 258 |
+
"reset_region": {
|
| 259 |
+
"offset": [
|
| 260 |
+
0.0014527782289688873,
|
| 261 |
+
0.06981058591882013,
|
| 262 |
+
0.1844737151775919
|
| 263 |
+
],
|
| 264 |
+
"size": [
|
| 265 |
+
0.6856360152799493,
|
| 266 |
+
0.5172543487964222
|
| 267 |
+
],
|
| 268 |
+
"name": "fridge_shelf0"
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"name": "distr2",
|
| 273 |
+
"fridgable": true,
|
| 274 |
+
"placement": {
|
| 275 |
+
"fixture": "fridge_left_group",
|
| 276 |
+
"size": [
|
| 277 |
+
0.3,
|
| 278 |
+
0.3
|
| 279 |
+
],
|
| 280 |
+
"pos": [
|
| 281 |
+
0.3,
|
| 282 |
+
1.0
|
| 283 |
+
]
|
| 284 |
+
},
|
| 285 |
+
"type": "object",
|
| 286 |
+
"info": {
|
| 287 |
+
"groups_containing_sampled_obj": [
|
| 288 |
+
"all",
|
| 289 |
+
"broccoli",
|
| 290 |
+
"vegetable",
|
| 291 |
+
"food",
|
| 292 |
+
"in_container",
|
| 293 |
+
"oven_ready"
|
| 294 |
+
],
|
| 295 |
+
"groups": [
|
| 296 |
+
"all"
|
| 297 |
+
],
|
| 298 |
+
"cat": "broccoli",
|
| 299 |
+
"split": "test",
|
| 300 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
|
| 301 |
+
},
|
| 302 |
+
"reset_region": {
|
| 303 |
+
"offset": [
|
| 304 |
+
0.0014527782289688873,
|
| 305 |
+
0.06981058591882013,
|
| 306 |
+
0.1844737151775919
|
| 307 |
+
],
|
| 308 |
+
"size": [
|
| 309 |
+
0.6856360152799493,
|
| 310 |
+
0.5172543487964222
|
| 311 |
+
],
|
| 312 |
+
"name": "fridge_shelf0"
|
| 313 |
+
}
|
| 314 |
+
}
|
| 315 |
+
],
|
| 316 |
+
"fixtures": {
|
| 317 |
+
"wall_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_backing_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"wall_front_room": {
|
| 324 |
+
"cls": "Wall"
|
| 325 |
+
},
|
| 326 |
+
"wall_front_backing_room": {
|
| 327 |
+
"cls": "Wall"
|
| 328 |
+
},
|
| 329 |
+
"wall_left_room": {
|
| 330 |
+
"cls": "Wall"
|
| 331 |
+
},
|
| 332 |
+
"wall_left_backing_room": {
|
| 333 |
+
"cls": "Wall"
|
| 334 |
+
},
|
| 335 |
+
"wall_left_2_room": {
|
| 336 |
+
"cls": "Wall"
|
| 337 |
+
},
|
| 338 |
+
"wall_2_left_backing_room": {
|
| 339 |
+
"cls": "Wall"
|
| 340 |
+
},
|
| 341 |
+
"wall_right_room": {
|
| 342 |
+
"cls": "Wall"
|
| 343 |
+
},
|
| 344 |
+
"wall_right_backing_room": {
|
| 345 |
+
"cls": "Wall"
|
| 346 |
+
},
|
| 347 |
+
"utensil_rack_room": {
|
| 348 |
+
"cls": "WallAccessory"
|
| 349 |
+
},
|
| 350 |
+
"outlet_room": {
|
| 351 |
+
"cls": "WallAccessory"
|
| 352 |
+
},
|
| 353 |
+
"outlet_2_room": {
|
| 354 |
+
"cls": "WallAccessory"
|
| 355 |
+
},
|
| 356 |
+
"outlet_3_room": {
|
| 357 |
+
"cls": "WallAccessory"
|
| 358 |
+
},
|
| 359 |
+
"light_switch_room": {
|
| 360 |
+
"cls": "WallAccessory"
|
| 361 |
+
},
|
| 362 |
+
"light_switch_2_room": {
|
| 363 |
+
"cls": "WallAccessory"
|
| 364 |
+
},
|
| 365 |
+
"window_group_room": {
|
| 366 |
+
"cls": "Window"
|
| 367 |
+
},
|
| 368 |
+
"floor_room": {
|
| 369 |
+
"cls": "Floor"
|
| 370 |
+
},
|
| 371 |
+
"floor_backing_room": {
|
| 372 |
+
"cls": "Floor"
|
| 373 |
+
},
|
| 374 |
+
"floor_front_room": {
|
| 375 |
+
"cls": "Floor"
|
| 376 |
+
},
|
| 377 |
+
"floor_front_backing_room": {
|
| 378 |
+
"cls": "Floor"
|
| 379 |
+
},
|
| 380 |
+
"stool_1_room": {
|
| 381 |
+
"cls": "Stool"
|
| 382 |
+
},
|
| 383 |
+
"stool_2_room": {
|
| 384 |
+
"cls": "Stool"
|
| 385 |
+
},
|
| 386 |
+
"stool_3_room": {
|
| 387 |
+
"cls": "Stool"
|
| 388 |
+
},
|
| 389 |
+
"counter_corner_1_main_group": {
|
| 390 |
+
"cls": "Counter"
|
| 391 |
+
},
|
| 392 |
+
"counter_main_main_group": {
|
| 393 |
+
"cls": "Counter"
|
| 394 |
+
},
|
| 395 |
+
"stove_main_group": {
|
| 396 |
+
"cls": "Stove"
|
| 397 |
+
},
|
| 398 |
+
"counter_1_main_group": {
|
| 399 |
+
"cls": "Counter"
|
| 400 |
+
},
|
| 401 |
+
"counter_corner_2_main_group": {
|
| 402 |
+
"cls": "Counter"
|
| 403 |
+
},
|
| 404 |
+
"cab_corner_main_group": {
|
| 405 |
+
"cls": "Box"
|
| 406 |
+
},
|
| 407 |
+
"cab_main_main_group": {
|
| 408 |
+
"cls": "HingeCabinet"
|
| 409 |
+
},
|
| 410 |
+
"cab_1_main_group": {
|
| 411 |
+
"cls": "HingeCabinet"
|
| 412 |
+
},
|
| 413 |
+
"hood_main_group": {
|
| 414 |
+
"cls": "Hood"
|
| 415 |
+
},
|
| 416 |
+
"shelves_main_group": {
|
| 417 |
+
"cls": "OpenCabinet"
|
| 418 |
+
},
|
| 419 |
+
"cab_corner_3_main_group": {
|
| 420 |
+
"cls": "Box"
|
| 421 |
+
},
|
| 422 |
+
"cab_corner_4_main_group": {
|
| 423 |
+
"cls": "Box"
|
| 424 |
+
},
|
| 425 |
+
"stack_1_main_group_base": {
|
| 426 |
+
"cls": "Box"
|
| 427 |
+
},
|
| 428 |
+
"stack_1_main_group_1": {
|
| 429 |
+
"cls": "HingeCabinet"
|
| 430 |
+
},
|
| 431 |
+
"stack_1_main_group_2": {
|
| 432 |
+
"cls": "Drawer"
|
| 433 |
+
},
|
| 434 |
+
"stack_1_main_group_3": {
|
| 435 |
+
"cls": "Drawer"
|
| 436 |
+
},
|
| 437 |
+
"stack_2_main_group_base": {
|
| 438 |
+
"cls": "Box"
|
| 439 |
+
},
|
| 440 |
+
"stack_2_main_group_1": {
|
| 441 |
+
"cls": "HingeCabinet"
|
| 442 |
+
},
|
| 443 |
+
"stack_2_main_group_2": {
|
| 444 |
+
"cls": "Drawer"
|
| 445 |
+
},
|
| 446 |
+
"stack_2_main_group_3": {
|
| 447 |
+
"cls": "Drawer"
|
| 448 |
+
},
|
| 449 |
+
"right_corner_box_main_group": {
|
| 450 |
+
"cls": "Box"
|
| 451 |
+
},
|
| 452 |
+
"stack_3_main_group_base": {
|
| 453 |
+
"cls": "Box"
|
| 454 |
+
},
|
| 455 |
+
"stack_3_main_group_1": {
|
| 456 |
+
"cls": "HingeCabinet"
|
| 457 |
+
},
|
| 458 |
+
"stack_3_main_group_2": {
|
| 459 |
+
"cls": "Drawer"
|
| 460 |
+
},
|
| 461 |
+
"stack_3_main_group_3": {
|
| 462 |
+
"cls": "Drawer"
|
| 463 |
+
},
|
| 464 |
+
"stack_4_main_group_base": {
|
| 465 |
+
"cls": "Box"
|
| 466 |
+
},
|
| 467 |
+
"stack_4_main_group_1": {
|
| 468 |
+
"cls": "Drawer"
|
| 469 |
+
},
|
| 470 |
+
"stack_4_main_group_2": {
|
| 471 |
+
"cls": "Drawer"
|
| 472 |
+
},
|
| 473 |
+
"stack_4_main_group_3": {
|
| 474 |
+
"cls": "Drawer"
|
| 475 |
+
},
|
| 476 |
+
"stack_4_main_group_4": {
|
| 477 |
+
"cls": "Drawer"
|
| 478 |
+
},
|
| 479 |
+
"coffee_machine_main_group": {
|
| 480 |
+
"cls": "CoffeeMachine"
|
| 481 |
+
},
|
| 482 |
+
"knife_block_main_group": {
|
| 483 |
+
"cls": "Accessory"
|
| 484 |
+
},
|
| 485 |
+
"plant_main_group": {
|
| 486 |
+
"cls": "Accessory"
|
| 487 |
+
},
|
| 488 |
+
"toaster_main_group": {
|
| 489 |
+
"cls": "Toaster"
|
| 490 |
+
},
|
| 491 |
+
"toaster_oven_main_group": {
|
| 492 |
+
"cls": "ToasterOven"
|
| 493 |
+
},
|
| 494 |
+
"tiered_basket_main_group": {
|
| 495 |
+
"cls": "Accessory"
|
| 496 |
+
},
|
| 497 |
+
"jar_main_group": {
|
| 498 |
+
"cls": "Accessory"
|
| 499 |
+
},
|
| 500 |
+
"paprika_main_group": {
|
| 501 |
+
"cls": "Accessory"
|
| 502 |
+
},
|
| 503 |
+
"cinnamon_main_group": {
|
| 504 |
+
"cls": "Accessory"
|
| 505 |
+
},
|
| 506 |
+
"turmeric_main_group": {
|
| 507 |
+
"cls": "Accessory"
|
| 508 |
+
},
|
| 509 |
+
"salt_shaker_main_group": {
|
| 510 |
+
"cls": "Accessory"
|
| 511 |
+
},
|
| 512 |
+
"jar_main_group_auxiliary_main_group": {
|
| 513 |
+
"cls": "Accessory"
|
| 514 |
+
},
|
| 515 |
+
"salt_shaker_main_group_auxiliary_main_group": {
|
| 516 |
+
"cls": "Accessory"
|
| 517 |
+
},
|
| 518 |
+
"fridge_left_group": {
|
| 519 |
+
"cls": "FridgeFrenchDoor"
|
| 520 |
+
},
|
| 521 |
+
"fridge_housing_left_group": {
|
| 522 |
+
"cls": "HousingCabinet"
|
| 523 |
+
},
|
| 524 |
+
"fridge_top_left_group": {
|
| 525 |
+
"cls": "HingeCabinet"
|
| 526 |
+
},
|
| 527 |
+
"stack_left_left_group_base": {
|
| 528 |
+
"cls": "Box"
|
| 529 |
+
},
|
| 530 |
+
"stack_left_left_group_1": {
|
| 531 |
+
"cls": "SingleCabinet"
|
| 532 |
+
},
|
| 533 |
+
"stack_left_left_group_2": {
|
| 534 |
+
"cls": "SingleCabinet"
|
| 535 |
+
},
|
| 536 |
+
"stack_right_left_group_base": {
|
| 537 |
+
"cls": "Box"
|
| 538 |
+
},
|
| 539 |
+
"stack_right_left_group_1": {
|
| 540 |
+
"cls": "SingleCabinet"
|
| 541 |
+
},
|
| 542 |
+
"stack_right_left_group_2": {
|
| 543 |
+
"cls": "SingleCabinet"
|
| 544 |
+
},
|
| 545 |
+
"box_left_top_left_group": {
|
| 546 |
+
"cls": "Box"
|
| 547 |
+
},
|
| 548 |
+
"box_left_bottom_left_group": {
|
| 549 |
+
"cls": "Box"
|
| 550 |
+
},
|
| 551 |
+
"box_right_top_left_group": {
|
| 552 |
+
"cls": "Box"
|
| 553 |
+
},
|
| 554 |
+
"box_right_bottom_left_group": {
|
| 555 |
+
"cls": "Box"
|
| 556 |
+
},
|
| 557 |
+
"sink_right_group": {
|
| 558 |
+
"cls": "Sink"
|
| 559 |
+
},
|
| 560 |
+
"counter_1_right_group": {
|
| 561 |
+
"cls": "Counter"
|
| 562 |
+
},
|
| 563 |
+
"counter_corner_right_group": {
|
| 564 |
+
"cls": "Counter"
|
| 565 |
+
},
|
| 566 |
+
"stack_1_right_group_base": {
|
| 567 |
+
"cls": "Box"
|
| 568 |
+
},
|
| 569 |
+
"stack_1_right_group_1": {
|
| 570 |
+
"cls": "HingeCabinet"
|
| 571 |
+
},
|
| 572 |
+
"stack_1_right_group_2": {
|
| 573 |
+
"cls": "PanelCabinet"
|
| 574 |
+
},
|
| 575 |
+
"dishwasher_right_group": {
|
| 576 |
+
"cls": "Dishwasher"
|
| 577 |
+
},
|
| 578 |
+
"stack_2_right_group_base": {
|
| 579 |
+
"cls": "Box"
|
| 580 |
+
},
|
| 581 |
+
"stack_2_right_group_1": {
|
| 582 |
+
"cls": "SingleCabinet"
|
| 583 |
+
},
|
| 584 |
+
"cab_1_right_group": {
|
| 585 |
+
"cls": "HingeCabinet"
|
| 586 |
+
},
|
| 587 |
+
"cab_2_right_group": {
|
| 588 |
+
"cls": "SingleCabinet"
|
| 589 |
+
},
|
| 590 |
+
"soap_dispenser_right_group": {
|
| 591 |
+
"cls": "Accessory"
|
| 592 |
+
},
|
| 593 |
+
"counter_corner_1_front_group": {
|
| 594 |
+
"cls": "Counter"
|
| 595 |
+
},
|
| 596 |
+
"counter_1_front_group": {
|
| 597 |
+
"cls": "Counter"
|
| 598 |
+
},
|
| 599 |
+
"stack_1_front_group_base": {
|
| 600 |
+
"cls": "Box"
|
| 601 |
+
},
|
| 602 |
+
"stack_1_front_group_1": {
|
| 603 |
+
"cls": "HingeCabinet"
|
| 604 |
+
},
|
| 605 |
+
"stack_1_front_group_2": {
|
| 606 |
+
"cls": "Drawer"
|
| 607 |
+
},
|
| 608 |
+
"shelves_front_group": {
|
| 609 |
+
"cls": "OpenCabinet"
|
| 610 |
+
},
|
| 611 |
+
"bottom_front_group_base": {
|
| 612 |
+
"cls": "Box"
|
| 613 |
+
},
|
| 614 |
+
"bottom_front_group_1": {
|
| 615 |
+
"cls": "Drawer"
|
| 616 |
+
},
|
| 617 |
+
"bottom_front_group_2": {
|
| 618 |
+
"cls": "Drawer"
|
| 619 |
+
},
|
| 620 |
+
"cab_middle_front_group": {
|
| 621 |
+
"cls": "HingeCabinet"
|
| 622 |
+
},
|
| 623 |
+
"microwave_front_group": {
|
| 624 |
+
"cls": "Microwave"
|
| 625 |
+
},
|
| 626 |
+
"micro_housing_front_group": {
|
| 627 |
+
"cls": "HousingCabinet"
|
| 628 |
+
},
|
| 629 |
+
"top_front_group": {
|
| 630 |
+
"cls": "HingeCabinet"
|
| 631 |
+
},
|
| 632 |
+
"utensil_set_front_group": {
|
| 633 |
+
"cls": "Accessory"
|
| 634 |
+
},
|
| 635 |
+
"counter_1_dining_area_group": {
|
| 636 |
+
"cls": "Counter"
|
| 637 |
+
},
|
| 638 |
+
"paper_towel_dining_area_group": {
|
| 639 |
+
"cls": "Accessory"
|
| 640 |
+
},
|
| 641 |
+
"fruit_bowl_dining_area_group": {
|
| 642 |
+
"cls": "Accessory"
|
| 643 |
+
}
|
| 644 |
+
},
|
| 645 |
+
"gen_textures": {},
|
| 646 |
+
"lang": "Pick the chicken drumstick and carrot from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 647 |
+
"fixture_refs": {
|
| 648 |
+
"stool1": "stool_1_room",
|
| 649 |
+
"stool2": "stool_2_room",
|
| 650 |
+
"dining_counter": "counter_1_dining_area_group",
|
| 651 |
+
"fridge": "fridge_left_group"
|
| 652 |
+
},
|
| 653 |
+
"cam_configs": {
|
| 654 |
+
"robot0_agentview_center": {
|
| 655 |
+
"pos": [
|
| 656 |
+
-0.6,
|
| 657 |
+
0.0,
|
| 658 |
+
1.15
|
| 659 |
+
],
|
| 660 |
+
"quat": [
|
| 661 |
+
0.636945903301239,
|
| 662 |
+
0.3325185477733612,
|
| 663 |
+
-0.3199238181114197,
|
| 664 |
+
-0.6175596117973328
|
| 665 |
+
],
|
| 666 |
+
"parent_body": "mobilebase0_support"
|
| 667 |
+
},
|
| 668 |
+
"robot0_agentview_left": {
|
| 669 |
+
"pos": [
|
| 670 |
+
-0.5,
|
| 671 |
+
0.35,
|
| 672 |
+
1.05
|
| 673 |
+
],
|
| 674 |
+
"quat": [
|
| 675 |
+
0.55623853,
|
| 676 |
+
0.29935253,
|
| 677 |
+
-0.37678665,
|
| 678 |
+
-0.6775092
|
| 679 |
+
],
|
| 680 |
+
"camera_attribs": {
|
| 681 |
+
"fovy": "60"
|
| 682 |
+
},
|
| 683 |
+
"parent_body": "mobilebase0_support"
|
| 684 |
+
},
|
| 685 |
+
"robot0_agentview_right": {
|
| 686 |
+
"pos": [
|
| 687 |
+
-0.5,
|
| 688 |
+
-0.35,
|
| 689 |
+
1.05
|
| 690 |
+
],
|
| 691 |
+
"quat": [
|
| 692 |
+
0.6775091886520386,
|
| 693 |
+
0.3767866790294647,
|
| 694 |
+
-0.2993525564670563,
|
| 695 |
+
-0.55623859167099
|
| 696 |
+
],
|
| 697 |
+
"camera_attribs": {
|
| 698 |
+
"fovy": "60"
|
| 699 |
+
},
|
| 700 |
+
"parent_body": "mobilebase0_support"
|
| 701 |
+
},
|
| 702 |
+
"robot0_frontview": {
|
| 703 |
+
"pos": [
|
| 704 |
+
-0.5,
|
| 705 |
+
0,
|
| 706 |
+
0.95
|
| 707 |
+
],
|
| 708 |
+
"quat": [
|
| 709 |
+
0.6088936924934387,
|
| 710 |
+
0.3814677894115448,
|
| 711 |
+
-0.3673907518386841,
|
| 712 |
+
-0.5905545353889465
|
| 713 |
+
],
|
| 714 |
+
"camera_attribs": {
|
| 715 |
+
"fovy": "60"
|
| 716 |
+
},
|
| 717 |
+
"parent_body": "mobilebase0_support"
|
| 718 |
+
},
|
| 719 |
+
"robot0_eye_in_hand": {
|
| 720 |
+
"pos": [
|
| 721 |
+
0.05,
|
| 722 |
+
0,
|
| 723 |
+
0
|
| 724 |
+
],
|
| 725 |
+
"quat": [
|
| 726 |
+
0,
|
| 727 |
+
0.707107,
|
| 728 |
+
0.707107,
|
| 729 |
+
0
|
| 730 |
+
],
|
| 731 |
+
"parent_body": "robot0_right_hand"
|
| 732 |
+
}
|
| 733 |
+
},
|
| 734 |
+
"init_robot_base_pos": [
|
| 735 |
+
4.665295378579395,
|
| 736 |
+
-4.019318192215582,
|
| 737 |
+
0.0
|
| 738 |
+
],
|
| 739 |
+
"init_robot_base_ori": [
|
| 740 |
+
0.0,
|
| 741 |
+
0.0,
|
| 742 |
+
7.85388898038469
|
| 743 |
+
]
|
| 744 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000014/ep_meta.json
ADDED
|
@@ -0,0 +1,653 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.232802852625,
|
| 14 |
+
0.23286639915,
|
| 15 |
+
0.014759147025
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.247940875935,
|
| 98 |
+
0.24539034402000004,
|
| 99 |
+
0.01667049282
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"onion",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"vegetable"
|
| 167 |
+
],
|
| 168 |
+
"cat": "onion",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_9/model.xml"
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"name": "bowl",
|
| 175 |
+
"obj_groups": "bowl",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"placement": {
|
| 178 |
+
"fixture": "island_island_group",
|
| 179 |
+
"sample_region_kwargs": {
|
| 180 |
+
"ref": "stool_2_room",
|
| 181 |
+
"min_size": [
|
| 182 |
+
0.2599887809999999,
|
| 183 |
+
0.2592267287999999,
|
| 184 |
+
0.07434426739999996
|
| 185 |
+
]
|
| 186 |
+
},
|
| 187 |
+
"size": [
|
| 188 |
+
1.0,
|
| 189 |
+
0.4
|
| 190 |
+
],
|
| 191 |
+
"pos": [
|
| 192 |
+
"ref",
|
| 193 |
+
"ref"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"type": "object",
|
| 197 |
+
"info": {
|
| 198 |
+
"groups_containing_sampled_obj": [
|
| 199 |
+
"all",
|
| 200 |
+
"bowl",
|
| 201 |
+
"stackable",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"group1",
|
| 204 |
+
"container_set2"
|
| 205 |
+
],
|
| 206 |
+
"groups": [
|
| 207 |
+
"bowl"
|
| 208 |
+
],
|
| 209 |
+
"cat": "bowl",
|
| 210 |
+
"split": "test",
|
| 211 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
|
| 212 |
+
},
|
| 213 |
+
"reset_region": {
|
| 214 |
+
"size": [
|
| 215 |
+
2.4399842052305356,
|
| 216 |
+
1.6
|
| 217 |
+
],
|
| 218 |
+
"offset": [
|
| 219 |
+
0.005007897384732285,
|
| 220 |
+
0.0,
|
| 221 |
+
0.46
|
| 222 |
+
],
|
| 223 |
+
"name": "geom_0"
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "distr1",
|
| 228 |
+
"fridgable": true,
|
| 229 |
+
"placement": {
|
| 230 |
+
"fixture": "fridge_main_group",
|
| 231 |
+
"size": [
|
| 232 |
+
0.3,
|
| 233 |
+
0.3
|
| 234 |
+
],
|
| 235 |
+
"pos": [
|
| 236 |
+
-0.3,
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"type": "object",
|
| 241 |
+
"info": {
|
| 242 |
+
"groups_containing_sampled_obj": [
|
| 243 |
+
"all",
|
| 244 |
+
"broccoli",
|
| 245 |
+
"vegetable",
|
| 246 |
+
"food",
|
| 247 |
+
"in_container",
|
| 248 |
+
"oven_ready"
|
| 249 |
+
],
|
| 250 |
+
"groups": [
|
| 251 |
+
"all"
|
| 252 |
+
],
|
| 253 |
+
"cat": "broccoli",
|
| 254 |
+
"split": "test",
|
| 255 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
|
| 256 |
+
},
|
| 257 |
+
"reset_region": {
|
| 258 |
+
"offset": [
|
| 259 |
+
5.222870163282267e-05,
|
| 260 |
+
0.10788939929975168,
|
| 261 |
+
0.5507136994887958
|
| 262 |
+
],
|
| 263 |
+
"size": [
|
| 264 |
+
0.7775131174413674,
|
| 265 |
+
0.5543220166326962
|
| 266 |
+
],
|
| 267 |
+
"name": "fridge_shelf1"
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"name": "distr2",
|
| 272 |
+
"fridgable": true,
|
| 273 |
+
"placement": {
|
| 274 |
+
"fixture": "fridge_main_group",
|
| 275 |
+
"size": [
|
| 276 |
+
0.3,
|
| 277 |
+
0.3
|
| 278 |
+
],
|
| 279 |
+
"pos": [
|
| 280 |
+
0.3,
|
| 281 |
+
1.0
|
| 282 |
+
]
|
| 283 |
+
},
|
| 284 |
+
"type": "object",
|
| 285 |
+
"info": {
|
| 286 |
+
"groups_containing_sampled_obj": [
|
| 287 |
+
"all",
|
| 288 |
+
"bowl",
|
| 289 |
+
"stackable",
|
| 290 |
+
"receptacle",
|
| 291 |
+
"group1",
|
| 292 |
+
"container_set2"
|
| 293 |
+
],
|
| 294 |
+
"groups": [
|
| 295 |
+
"all"
|
| 296 |
+
],
|
| 297 |
+
"cat": "bowl",
|
| 298 |
+
"split": "test",
|
| 299 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
|
| 300 |
+
},
|
| 301 |
+
"reset_region": {
|
| 302 |
+
"offset": [
|
| 303 |
+
5.222870163282267e-05,
|
| 304 |
+
0.10788939929975168,
|
| 305 |
+
0.5507136994887958
|
| 306 |
+
],
|
| 307 |
+
"size": [
|
| 308 |
+
0.7775131174413674,
|
| 309 |
+
0.5543220166326962
|
| 310 |
+
],
|
| 311 |
+
"name": "fridge_shelf1"
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
],
|
| 315 |
+
"fixtures": {
|
| 316 |
+
"wall_room": {
|
| 317 |
+
"cls": "Wall"
|
| 318 |
+
},
|
| 319 |
+
"wall_backing_room": {
|
| 320 |
+
"cls": "Wall"
|
| 321 |
+
},
|
| 322 |
+
"wall_left_room": {
|
| 323 |
+
"cls": "Wall"
|
| 324 |
+
},
|
| 325 |
+
"wall_left_backing_room": {
|
| 326 |
+
"cls": "Wall"
|
| 327 |
+
},
|
| 328 |
+
"outlet_room": {
|
| 329 |
+
"cls": "WallAccessory"
|
| 330 |
+
},
|
| 331 |
+
"outlet_2_room": {
|
| 332 |
+
"cls": "WallAccessory"
|
| 333 |
+
},
|
| 334 |
+
"light_switch_room": {
|
| 335 |
+
"cls": "WallAccessory"
|
| 336 |
+
},
|
| 337 |
+
"light_switch_2_room": {
|
| 338 |
+
"cls": "WallAccessory"
|
| 339 |
+
},
|
| 340 |
+
"window_group_room": {
|
| 341 |
+
"cls": "Window"
|
| 342 |
+
},
|
| 343 |
+
"floor_room": {
|
| 344 |
+
"cls": "Floor"
|
| 345 |
+
},
|
| 346 |
+
"floor_backing_room": {
|
| 347 |
+
"cls": "Floor"
|
| 348 |
+
},
|
| 349 |
+
"stool_1_room": {
|
| 350 |
+
"cls": "Stool"
|
| 351 |
+
},
|
| 352 |
+
"stool_2_room": {
|
| 353 |
+
"cls": "Stool"
|
| 354 |
+
},
|
| 355 |
+
"stool_3_room": {
|
| 356 |
+
"cls": "Stool"
|
| 357 |
+
},
|
| 358 |
+
"counter_corner_main_main_group": {
|
| 359 |
+
"cls": "Counter"
|
| 360 |
+
},
|
| 361 |
+
"counter_main_main_group": {
|
| 362 |
+
"cls": "Counter"
|
| 363 |
+
},
|
| 364 |
+
"stovetop_main_group": {
|
| 365 |
+
"cls": "Stovetop"
|
| 366 |
+
},
|
| 367 |
+
"counter_1_right_main_group": {
|
| 368 |
+
"cls": "Counter"
|
| 369 |
+
},
|
| 370 |
+
"fridge_main_group": {
|
| 371 |
+
"cls": "FridgeFrenchDoor"
|
| 372 |
+
},
|
| 373 |
+
"fridge_housing_main_group": {
|
| 374 |
+
"cls": "HousingCabinet"
|
| 375 |
+
},
|
| 376 |
+
"stack_1_main_group_base": {
|
| 377 |
+
"cls": "Box"
|
| 378 |
+
},
|
| 379 |
+
"stack_1_main_group_1": {
|
| 380 |
+
"cls": "Drawer"
|
| 381 |
+
},
|
| 382 |
+
"stack_1_main_group_2": {
|
| 383 |
+
"cls": "Drawer"
|
| 384 |
+
},
|
| 385 |
+
"stack_1_main_group_3": {
|
| 386 |
+
"cls": "Drawer"
|
| 387 |
+
},
|
| 388 |
+
"stack_1_main_group_4": {
|
| 389 |
+
"cls": "Drawer"
|
| 390 |
+
},
|
| 391 |
+
"stack_2_main_group_base": {
|
| 392 |
+
"cls": "Box"
|
| 393 |
+
},
|
| 394 |
+
"stack_2_main_group_1": {
|
| 395 |
+
"cls": "HingeCabinet"
|
| 396 |
+
},
|
| 397 |
+
"stack_2_main_group_2": {
|
| 398 |
+
"cls": "PanelCabinet"
|
| 399 |
+
},
|
| 400 |
+
"stack_3_main_group_base": {
|
| 401 |
+
"cls": "Box"
|
| 402 |
+
},
|
| 403 |
+
"stack_3_main_group_1": {
|
| 404 |
+
"cls": "HingeCabinet"
|
| 405 |
+
},
|
| 406 |
+
"stack_3_main_group_2": {
|
| 407 |
+
"cls": "Drawer"
|
| 408 |
+
},
|
| 409 |
+
"stack_3_main_group_3": {
|
| 410 |
+
"cls": "Drawer"
|
| 411 |
+
},
|
| 412 |
+
"hood_main_group": {
|
| 413 |
+
"cls": "Hood"
|
| 414 |
+
},
|
| 415 |
+
"cab_main_main_group": {
|
| 416 |
+
"cls": "HingeCabinet"
|
| 417 |
+
},
|
| 418 |
+
"shelves_main_group": {
|
| 419 |
+
"cls": "OpenCabinet"
|
| 420 |
+
},
|
| 421 |
+
"fridge_cab_main_group": {
|
| 422 |
+
"cls": "HingeCabinet"
|
| 423 |
+
},
|
| 424 |
+
"paper_towel_main_group": {
|
| 425 |
+
"cls": "Accessory"
|
| 426 |
+
},
|
| 427 |
+
"knife_block_main_group": {
|
| 428 |
+
"cls": "Accessory"
|
| 429 |
+
},
|
| 430 |
+
"toaster_main_group": {
|
| 431 |
+
"cls": "Toaster"
|
| 432 |
+
},
|
| 433 |
+
"utensil_set_main_group": {
|
| 434 |
+
"cls": "Accessory"
|
| 435 |
+
},
|
| 436 |
+
"toaster_oven_main_group": {
|
| 437 |
+
"cls": "ToasterOven"
|
| 438 |
+
},
|
| 439 |
+
"jar_main_group": {
|
| 440 |
+
"cls": "Accessory"
|
| 441 |
+
},
|
| 442 |
+
"jar_2_main_group": {
|
| 443 |
+
"cls": "Accessory"
|
| 444 |
+
},
|
| 445 |
+
"glass_cup_main_group": {
|
| 446 |
+
"cls": "Accessory"
|
| 447 |
+
},
|
| 448 |
+
"glass_cup_2_main_group": {
|
| 449 |
+
"cls": "Accessory"
|
| 450 |
+
},
|
| 451 |
+
"jar_main_group_auxiliary_main_group": {
|
| 452 |
+
"cls": "Accessory"
|
| 453 |
+
},
|
| 454 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 455 |
+
"cls": "Accessory"
|
| 456 |
+
},
|
| 457 |
+
"cab_1_left_group": {
|
| 458 |
+
"cls": "SingleCabinet"
|
| 459 |
+
},
|
| 460 |
+
"cab_2_left_group": {
|
| 461 |
+
"cls": "SingleCabinet"
|
| 462 |
+
},
|
| 463 |
+
"cab_corner_3_left_group": {
|
| 464 |
+
"cls": "Box"
|
| 465 |
+
},
|
| 466 |
+
"cab_corner_4_left_group": {
|
| 467 |
+
"cls": "Box"
|
| 468 |
+
},
|
| 469 |
+
"sink_left_group": {
|
| 470 |
+
"cls": "Sink"
|
| 471 |
+
},
|
| 472 |
+
"counter_1_left_left_group": {
|
| 473 |
+
"cls": "Counter"
|
| 474 |
+
},
|
| 475 |
+
"counter_corner_left_group": {
|
| 476 |
+
"cls": "Counter"
|
| 477 |
+
},
|
| 478 |
+
"bottom_left_group_base": {
|
| 479 |
+
"cls": "Box"
|
| 480 |
+
},
|
| 481 |
+
"bottom_left_group_1": {
|
| 482 |
+
"cls": "Drawer"
|
| 483 |
+
},
|
| 484 |
+
"bottom_left_group_2": {
|
| 485 |
+
"cls": "Drawer"
|
| 486 |
+
},
|
| 487 |
+
"oven_left_group": {
|
| 488 |
+
"cls": "Oven"
|
| 489 |
+
},
|
| 490 |
+
"oven_housing_left_group": {
|
| 491 |
+
"cls": "HousingCabinet"
|
| 492 |
+
},
|
| 493 |
+
"microwave_left_group": {
|
| 494 |
+
"cls": "Microwave"
|
| 495 |
+
},
|
| 496 |
+
"micro_housing_left_group": {
|
| 497 |
+
"cls": "HousingCabinet"
|
| 498 |
+
},
|
| 499 |
+
"top_left_group": {
|
| 500 |
+
"cls": "HingeCabinet"
|
| 501 |
+
},
|
| 502 |
+
"stack_1_left_group": {
|
| 503 |
+
"cls": "SingleCabinet"
|
| 504 |
+
},
|
| 505 |
+
"dishwasher_left_group": {
|
| 506 |
+
"cls": "Dishwasher"
|
| 507 |
+
},
|
| 508 |
+
"stack_2_left_group_base": {
|
| 509 |
+
"cls": "Box"
|
| 510 |
+
},
|
| 511 |
+
"stack_2_left_group_1": {
|
| 512 |
+
"cls": "HingeCabinet"
|
| 513 |
+
},
|
| 514 |
+
"stack_2_left_group_2": {
|
| 515 |
+
"cls": "PanelCabinet"
|
| 516 |
+
},
|
| 517 |
+
"stack_3_left_group_base": {
|
| 518 |
+
"cls": "Box"
|
| 519 |
+
},
|
| 520 |
+
"stack_3_left_group_1": {
|
| 521 |
+
"cls": "HingeCabinet"
|
| 522 |
+
},
|
| 523 |
+
"stack_3_left_group_2": {
|
| 524 |
+
"cls": "Drawer"
|
| 525 |
+
},
|
| 526 |
+
"stack_3_left_group_3": {
|
| 527 |
+
"cls": "Drawer"
|
| 528 |
+
},
|
| 529 |
+
"coffee_machine_left_group": {
|
| 530 |
+
"cls": "CoffeeMachine"
|
| 531 |
+
},
|
| 532 |
+
"soap_dispenser_left_group": {
|
| 533 |
+
"cls": "Accessory"
|
| 534 |
+
},
|
| 535 |
+
"tiered_basket_left_group": {
|
| 536 |
+
"cls": "Accessory"
|
| 537 |
+
},
|
| 538 |
+
"island_island_group": {
|
| 539 |
+
"cls": "Counter"
|
| 540 |
+
},
|
| 541 |
+
"plant_island_group": {
|
| 542 |
+
"cls": "Accessory"
|
| 543 |
+
},
|
| 544 |
+
"fruit_bowl_island_group": {
|
| 545 |
+
"cls": "Accessory"
|
| 546 |
+
},
|
| 547 |
+
"salt_shaker_island_group": {
|
| 548 |
+
"cls": "Accessory"
|
| 549 |
+
},
|
| 550 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 551 |
+
"cls": "Accessory"
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
"gen_textures": {},
|
| 555 |
+
"lang": "Pick the chicken drumstick and onion from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 556 |
+
"fixture_refs": {
|
| 557 |
+
"stool1": "stool_1_room",
|
| 558 |
+
"stool2": "stool_2_room",
|
| 559 |
+
"dining_counter": "island_island_group",
|
| 560 |
+
"fridge": "fridge_main_group"
|
| 561 |
+
},
|
| 562 |
+
"cam_configs": {
|
| 563 |
+
"robot0_agentview_center": {
|
| 564 |
+
"pos": [
|
| 565 |
+
-0.6,
|
| 566 |
+
0.0,
|
| 567 |
+
1.15
|
| 568 |
+
],
|
| 569 |
+
"quat": [
|
| 570 |
+
0.636945903301239,
|
| 571 |
+
0.3325185477733612,
|
| 572 |
+
-0.3199238181114197,
|
| 573 |
+
-0.6175596117973328
|
| 574 |
+
],
|
| 575 |
+
"parent_body": "mobilebase0_support"
|
| 576 |
+
},
|
| 577 |
+
"robot0_agentview_left": {
|
| 578 |
+
"pos": [
|
| 579 |
+
-0.5,
|
| 580 |
+
0.35,
|
| 581 |
+
1.05
|
| 582 |
+
],
|
| 583 |
+
"quat": [
|
| 584 |
+
0.55623853,
|
| 585 |
+
0.29935253,
|
| 586 |
+
-0.37678665,
|
| 587 |
+
-0.6775092
|
| 588 |
+
],
|
| 589 |
+
"camera_attribs": {
|
| 590 |
+
"fovy": "60"
|
| 591 |
+
},
|
| 592 |
+
"parent_body": "mobilebase0_support"
|
| 593 |
+
},
|
| 594 |
+
"robot0_agentview_right": {
|
| 595 |
+
"pos": [
|
| 596 |
+
-0.5,
|
| 597 |
+
-0.35,
|
| 598 |
+
1.05
|
| 599 |
+
],
|
| 600 |
+
"quat": [
|
| 601 |
+
0.6775091886520386,
|
| 602 |
+
0.3767866790294647,
|
| 603 |
+
-0.2993525564670563,
|
| 604 |
+
-0.55623859167099
|
| 605 |
+
],
|
| 606 |
+
"camera_attribs": {
|
| 607 |
+
"fovy": "60"
|
| 608 |
+
},
|
| 609 |
+
"parent_body": "mobilebase0_support"
|
| 610 |
+
},
|
| 611 |
+
"robot0_frontview": {
|
| 612 |
+
"pos": [
|
| 613 |
+
-0.5,
|
| 614 |
+
0,
|
| 615 |
+
0.95
|
| 616 |
+
],
|
| 617 |
+
"quat": [
|
| 618 |
+
0.6088936924934387,
|
| 619 |
+
0.3814677894115448,
|
| 620 |
+
-0.3673907518386841,
|
| 621 |
+
-0.5905545353889465
|
| 622 |
+
],
|
| 623 |
+
"camera_attribs": {
|
| 624 |
+
"fovy": "60"
|
| 625 |
+
},
|
| 626 |
+
"parent_body": "mobilebase0_support"
|
| 627 |
+
},
|
| 628 |
+
"robot0_eye_in_hand": {
|
| 629 |
+
"pos": [
|
| 630 |
+
0.05,
|
| 631 |
+
0,
|
| 632 |
+
0
|
| 633 |
+
],
|
| 634 |
+
"quat": [
|
| 635 |
+
0,
|
| 636 |
+
0.707107,
|
| 637 |
+
0.707107,
|
| 638 |
+
0
|
| 639 |
+
],
|
| 640 |
+
"parent_body": "robot0_right_hand"
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
"init_robot_base_pos": [
|
| 644 |
+
3.9737843596474893,
|
| 645 |
+
-3.0751955650069625,
|
| 646 |
+
0.0
|
| 647 |
+
],
|
| 648 |
+
"init_robot_base_ori": [
|
| 649 |
+
0.0,
|
| 650 |
+
0.0,
|
| 651 |
+
3.1415889803846895
|
| 652 |
+
]
|
| 653 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000080/ep_meta.json
ADDED
|
@@ -0,0 +1,811 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.24568749157499997,
|
| 14 |
+
0.24474791709000002,
|
| 15 |
+
0.03850276869
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
0.4976678600342783,
|
| 47 |
+
1.55
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.649935139697214,
|
| 51 |
+
2.0816681711721685e-17,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.244743326685,
|
| 98 |
+
0.24474403597500002,
|
| 99 |
+
0.023217144615000004
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
0.8020727043346244,
|
| 131 |
+
0.9350000000000002
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-6.48575127626394e-05,
|
| 135 |
+
0.3075,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"broccoli",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"oven_ready"
|
| 165 |
+
],
|
| 166 |
+
"groups": [
|
| 167 |
+
"vegetable"
|
| 168 |
+
],
|
| 169 |
+
"cat": "broccoli",
|
| 170 |
+
"split": "test",
|
| 171 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "bowl",
|
| 176 |
+
"obj_groups": "bowl",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"placement": {
|
| 179 |
+
"fixture": "island_island_group",
|
| 180 |
+
"sample_region_kwargs": {
|
| 181 |
+
"ref": "stool_2_room",
|
| 182 |
+
"min_size": [
|
| 183 |
+
0.22999947099999987,
|
| 184 |
+
0.22999348179999984,
|
| 185 |
+
0.06689473639999997
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"size": [
|
| 189 |
+
1.0,
|
| 190 |
+
0.4
|
| 191 |
+
],
|
| 192 |
+
"pos": [
|
| 193 |
+
"ref",
|
| 194 |
+
"ref"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"type": "object",
|
| 198 |
+
"info": {
|
| 199 |
+
"groups_containing_sampled_obj": [
|
| 200 |
+
"all",
|
| 201 |
+
"bowl",
|
| 202 |
+
"stackable",
|
| 203 |
+
"receptacle",
|
| 204 |
+
"group1",
|
| 205 |
+
"container_set2"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"bowl"
|
| 209 |
+
],
|
| 210 |
+
"cat": "bowl",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
|
| 213 |
+
},
|
| 214 |
+
"reset_region": {
|
| 215 |
+
"size": [
|
| 216 |
+
0.8020727043346244,
|
| 217 |
+
0.9350000000000002
|
| 218 |
+
],
|
| 219 |
+
"offset": [
|
| 220 |
+
-6.48575127626394e-05,
|
| 221 |
+
0.3075,
|
| 222 |
+
0.46
|
| 223 |
+
],
|
| 224 |
+
"name": "geom_0"
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"name": "distr1",
|
| 229 |
+
"fridgable": true,
|
| 230 |
+
"placement": {
|
| 231 |
+
"fixture": "fridge_right_group",
|
| 232 |
+
"size": [
|
| 233 |
+
0.3,
|
| 234 |
+
0.3
|
| 235 |
+
],
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.3,
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"type": "object",
|
| 242 |
+
"info": {
|
| 243 |
+
"groups_containing_sampled_obj": [
|
| 244 |
+
"all",
|
| 245 |
+
"mayonnaise",
|
| 246 |
+
"condiment"
|
| 247 |
+
],
|
| 248 |
+
"groups": [
|
| 249 |
+
"all"
|
| 250 |
+
],
|
| 251 |
+
"cat": "mayonnaise",
|
| 252 |
+
"split": "test",
|
| 253 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise008/model.xml"
|
| 254 |
+
},
|
| 255 |
+
"reset_region": {
|
| 256 |
+
"offset": [
|
| 257 |
+
0.17648921902301634,
|
| 258 |
+
0.09431713873401872,
|
| 259 |
+
0.1835105829355773
|
| 260 |
+
],
|
| 261 |
+
"size": [
|
| 262 |
+
0.4128378194384873,
|
| 263 |
+
0.5356103330552707
|
| 264 |
+
],
|
| 265 |
+
"name": "fridge_shelf1"
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"name": "distr2",
|
| 270 |
+
"fridgable": true,
|
| 271 |
+
"placement": {
|
| 272 |
+
"fixture": "fridge_right_group",
|
| 273 |
+
"size": [
|
| 274 |
+
0.3,
|
| 275 |
+
0.3
|
| 276 |
+
],
|
| 277 |
+
"pos": [
|
| 278 |
+
0.3,
|
| 279 |
+
1.0
|
| 280 |
+
]
|
| 281 |
+
},
|
| 282 |
+
"type": "object",
|
| 283 |
+
"info": {
|
| 284 |
+
"groups_containing_sampled_obj": [
|
| 285 |
+
"all",
|
| 286 |
+
"banana",
|
| 287 |
+
"fruit",
|
| 288 |
+
"food",
|
| 289 |
+
"in_container",
|
| 290 |
+
"food_set1",
|
| 291 |
+
"group1"
|
| 292 |
+
],
|
| 293 |
+
"groups": [
|
| 294 |
+
"all"
|
| 295 |
+
],
|
| 296 |
+
"cat": "banana",
|
| 297 |
+
"split": "test",
|
| 298 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_5/model.xml"
|
| 299 |
+
},
|
| 300 |
+
"reset_region": {
|
| 301 |
+
"offset": [
|
| 302 |
+
0.17648921902301634,
|
| 303 |
+
0.09444338166204168,
|
| 304 |
+
0.5092108047621914
|
| 305 |
+
],
|
| 306 |
+
"size": [
|
| 307 |
+
0.4128378194384873,
|
| 308 |
+
0.5358628189113166
|
| 309 |
+
],
|
| 310 |
+
"name": "fridge_shelf2"
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"fixtures": {
|
| 315 |
+
"wall_room": {
|
| 316 |
+
"cls": "Wall"
|
| 317 |
+
},
|
| 318 |
+
"wall_backing_room": {
|
| 319 |
+
"cls": "Wall"
|
| 320 |
+
},
|
| 321 |
+
"wall_left_room": {
|
| 322 |
+
"cls": "Wall"
|
| 323 |
+
},
|
| 324 |
+
"wall_left_backing_room": {
|
| 325 |
+
"cls": "Wall"
|
| 326 |
+
},
|
| 327 |
+
"wall_right_room": {
|
| 328 |
+
"cls": "Wall"
|
| 329 |
+
},
|
| 330 |
+
"wall_right_backing_room": {
|
| 331 |
+
"cls": "Wall"
|
| 332 |
+
},
|
| 333 |
+
"floor_room": {
|
| 334 |
+
"cls": "Floor"
|
| 335 |
+
},
|
| 336 |
+
"floor_backing_room": {
|
| 337 |
+
"cls": "Floor"
|
| 338 |
+
},
|
| 339 |
+
"utensil_rack_room": {
|
| 340 |
+
"cls": "WallAccessory"
|
| 341 |
+
},
|
| 342 |
+
"light_switch_room": {
|
| 343 |
+
"cls": "WallAccessory"
|
| 344 |
+
},
|
| 345 |
+
"light_switch_2_room": {
|
| 346 |
+
"cls": "WallAccessory"
|
| 347 |
+
},
|
| 348 |
+
"outlet_room": {
|
| 349 |
+
"cls": "WallAccessory"
|
| 350 |
+
},
|
| 351 |
+
"outlet_2_room": {
|
| 352 |
+
"cls": "WallAccessory"
|
| 353 |
+
},
|
| 354 |
+
"outlet_3_room": {
|
| 355 |
+
"cls": "WallAccessory"
|
| 356 |
+
},
|
| 357 |
+
"window_group_room": {
|
| 358 |
+
"cls": "Window"
|
| 359 |
+
},
|
| 360 |
+
"stool_1_room": {
|
| 361 |
+
"cls": "Stool"
|
| 362 |
+
},
|
| 363 |
+
"stool_2_room": {
|
| 364 |
+
"cls": "Stool"
|
| 365 |
+
},
|
| 366 |
+
"stool_3_room": {
|
| 367 |
+
"cls": "Stool"
|
| 368 |
+
},
|
| 369 |
+
"counter_corner_main_group": {
|
| 370 |
+
"cls": "Counter"
|
| 371 |
+
},
|
| 372 |
+
"counter_1_main_group": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
+
},
|
| 375 |
+
"stovetop_main_group": {
|
| 376 |
+
"cls": "Stovetop"
|
| 377 |
+
},
|
| 378 |
+
"counter_main_main_group": {
|
| 379 |
+
"cls": "Counter"
|
| 380 |
+
},
|
| 381 |
+
"counter_corner_2_main_group": {
|
| 382 |
+
"cls": "Counter"
|
| 383 |
+
},
|
| 384 |
+
"cab_corner_main_group": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"cab_corner_2_main_group": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"cab_1_main_group": {
|
| 391 |
+
"cls": "SingleCabinet"
|
| 392 |
+
},
|
| 393 |
+
"hood_main_group": {
|
| 394 |
+
"cls": "Hood"
|
| 395 |
+
},
|
| 396 |
+
"shelves_main_group": {
|
| 397 |
+
"cls": "OpenCabinet"
|
| 398 |
+
},
|
| 399 |
+
"cab_main_main_group": {
|
| 400 |
+
"cls": "SingleCabinet"
|
| 401 |
+
},
|
| 402 |
+
"cab_corner_3_main_group": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"cab_corner_4_main_group": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_1_main_group_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_1_main_group_1": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
+
"stack_1_main_group_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_1_main_group_3": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"stack_2_main_group_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_2_main_group_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"stack_2_main_group_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"stack_2_main_group_3": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
+
},
|
| 432 |
+
"stack_3_main_group_base": {
|
| 433 |
+
"cls": "Box"
|
| 434 |
+
},
|
| 435 |
+
"stack_3_main_group_1": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
+
"stack_3_main_group_2": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
},
|
| 441 |
+
"stack_3_main_group_3": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_3_main_group_4": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"stack_4_main_group_base": {
|
| 448 |
+
"cls": "Box"
|
| 449 |
+
},
|
| 450 |
+
"stack_4_main_group_1": {
|
| 451 |
+
"cls": "HingeCabinet"
|
| 452 |
+
},
|
| 453 |
+
"stack_5_main_group_base": {
|
| 454 |
+
"cls": "Box"
|
| 455 |
+
},
|
| 456 |
+
"stack_5_main_group_1": {
|
| 457 |
+
"cls": "HingeCabinet"
|
| 458 |
+
},
|
| 459 |
+
"stack_5_main_group_2": {
|
| 460 |
+
"cls": "Drawer"
|
| 461 |
+
},
|
| 462 |
+
"stack_5_main_group_3": {
|
| 463 |
+
"cls": "Drawer"
|
| 464 |
+
},
|
| 465 |
+
"stack_6_main_group_base": {
|
| 466 |
+
"cls": "Box"
|
| 467 |
+
},
|
| 468 |
+
"stack_6_main_group_1": {
|
| 469 |
+
"cls": "SingleCabinet"
|
| 470 |
+
},
|
| 471 |
+
"stack_6_main_group_2": {
|
| 472 |
+
"cls": "Drawer"
|
| 473 |
+
},
|
| 474 |
+
"knife_block_main_group": {
|
| 475 |
+
"cls": "Accessory"
|
| 476 |
+
},
|
| 477 |
+
"paper_towel_main_group": {
|
| 478 |
+
"cls": "Accessory"
|
| 479 |
+
},
|
| 480 |
+
"utensil_set_main_group": {
|
| 481 |
+
"cls": "Accessory"
|
| 482 |
+
},
|
| 483 |
+
"oil_bottle_main_group": {
|
| 484 |
+
"cls": "Accessory"
|
| 485 |
+
},
|
| 486 |
+
"glass_cup_main_group": {
|
| 487 |
+
"cls": "Accessory"
|
| 488 |
+
},
|
| 489 |
+
"glass_cup_2_main_group": {
|
| 490 |
+
"cls": "Accessory"
|
| 491 |
+
},
|
| 492 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 493 |
+
"cls": "Accessory"
|
| 494 |
+
},
|
| 495 |
+
"sink_island_group": {
|
| 496 |
+
"cls": "Sink"
|
| 497 |
+
},
|
| 498 |
+
"island_island_group": {
|
| 499 |
+
"cls": "Counter"
|
| 500 |
+
},
|
| 501 |
+
"island_stack_1_island_group_base": {
|
| 502 |
+
"cls": "Box"
|
| 503 |
+
},
|
| 504 |
+
"island_stack_1_island_group_1": {
|
| 505 |
+
"cls": "HingeCabinet"
|
| 506 |
+
},
|
| 507 |
+
"island_stack_1_island_group_2": {
|
| 508 |
+
"cls": "PanelCabinet"
|
| 509 |
+
},
|
| 510 |
+
"dishwasher_island_group": {
|
| 511 |
+
"cls": "Dishwasher"
|
| 512 |
+
},
|
| 513 |
+
"island_panel_cab_right_island_group_base": {
|
| 514 |
+
"cls": "Box"
|
| 515 |
+
},
|
| 516 |
+
"island_panel_cab_right_island_group_1": {
|
| 517 |
+
"cls": "PanelCabinet"
|
| 518 |
+
},
|
| 519 |
+
"island_cab_right_island_group_base": {
|
| 520 |
+
"cls": "Box"
|
| 521 |
+
},
|
| 522 |
+
"island_cab_right_island_group_1": {
|
| 523 |
+
"cls": "Drawer"
|
| 524 |
+
},
|
| 525 |
+
"island_cab_right_island_group_2": {
|
| 526 |
+
"cls": "Drawer"
|
| 527 |
+
},
|
| 528 |
+
"island_cab_right_island_group_3": {
|
| 529 |
+
"cls": "Drawer"
|
| 530 |
+
},
|
| 531 |
+
"island_cab_right_island_group_4": {
|
| 532 |
+
"cls": "Drawer"
|
| 533 |
+
},
|
| 534 |
+
"island_panel_cab_left_island_group_base": {
|
| 535 |
+
"cls": "Box"
|
| 536 |
+
},
|
| 537 |
+
"island_panel_cab_left_island_group_1": {
|
| 538 |
+
"cls": "PanelCabinet"
|
| 539 |
+
},
|
| 540 |
+
"island_base_box_island_group": {
|
| 541 |
+
"cls": "Box"
|
| 542 |
+
},
|
| 543 |
+
"plant_island_group": {
|
| 544 |
+
"cls": "Accessory"
|
| 545 |
+
},
|
| 546 |
+
"soap_dispenser_island_group": {
|
| 547 |
+
"cls": "Accessory"
|
| 548 |
+
},
|
| 549 |
+
"fruit_bowl_island_group": {
|
| 550 |
+
"cls": "Accessory"
|
| 551 |
+
},
|
| 552 |
+
"salt_shaker_island_group": {
|
| 553 |
+
"cls": "Accessory"
|
| 554 |
+
},
|
| 555 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 556 |
+
"cls": "Accessory"
|
| 557 |
+
},
|
| 558 |
+
"counter_1_left_group": {
|
| 559 |
+
"cls": "Counter"
|
| 560 |
+
},
|
| 561 |
+
"counter_corner_left_group": {
|
| 562 |
+
"cls": "Counter"
|
| 563 |
+
},
|
| 564 |
+
"bottom_left_group_base": {
|
| 565 |
+
"cls": "Box"
|
| 566 |
+
},
|
| 567 |
+
"bottom_left_group_1": {
|
| 568 |
+
"cls": "Drawer"
|
| 569 |
+
},
|
| 570 |
+
"bottom_left_group_2": {
|
| 571 |
+
"cls": "Drawer"
|
| 572 |
+
},
|
| 573 |
+
"oven_left_group": {
|
| 574 |
+
"cls": "Oven"
|
| 575 |
+
},
|
| 576 |
+
"oven_housing_left_group": {
|
| 577 |
+
"cls": "HousingCabinet"
|
| 578 |
+
},
|
| 579 |
+
"microwave_left_group": {
|
| 580 |
+
"cls": "Microwave"
|
| 581 |
+
},
|
| 582 |
+
"micro_housing_left_group": {
|
| 583 |
+
"cls": "HousingCabinet"
|
| 584 |
+
},
|
| 585 |
+
"top_left_group": {
|
| 586 |
+
"cls": "HingeCabinet"
|
| 587 |
+
},
|
| 588 |
+
"stack_1_left_group_base": {
|
| 589 |
+
"cls": "Box"
|
| 590 |
+
},
|
| 591 |
+
"stack_1_left_group_1": {
|
| 592 |
+
"cls": "SingleCabinet"
|
| 593 |
+
},
|
| 594 |
+
"stack_1_left_group_2": {
|
| 595 |
+
"cls": "Drawer"
|
| 596 |
+
},
|
| 597 |
+
"stack_2_left_group_base": {
|
| 598 |
+
"cls": "Box"
|
| 599 |
+
},
|
| 600 |
+
"stack_2_left_group_1": {
|
| 601 |
+
"cls": "HingeCabinet"
|
| 602 |
+
},
|
| 603 |
+
"stack_2_left_group_2": {
|
| 604 |
+
"cls": "Drawer"
|
| 605 |
+
},
|
| 606 |
+
"stack_2_left_group_3": {
|
| 607 |
+
"cls": "Drawer"
|
| 608 |
+
},
|
| 609 |
+
"stack_3_left_group_base": {
|
| 610 |
+
"cls": "Box"
|
| 611 |
+
},
|
| 612 |
+
"stack_3_left_group_1": {
|
| 613 |
+
"cls": "Drawer"
|
| 614 |
+
},
|
| 615 |
+
"stack_3_left_group_2": {
|
| 616 |
+
"cls": "Drawer"
|
| 617 |
+
},
|
| 618 |
+
"stack_3_left_group_3": {
|
| 619 |
+
"cls": "Drawer"
|
| 620 |
+
},
|
| 621 |
+
"stack_3_left_group_4": {
|
| 622 |
+
"cls": "Drawer"
|
| 623 |
+
},
|
| 624 |
+
"shelves_left_group": {
|
| 625 |
+
"cls": "OpenCabinet"
|
| 626 |
+
},
|
| 627 |
+
"cab_2_left_group": {
|
| 628 |
+
"cls": "SingleCabinet"
|
| 629 |
+
},
|
| 630 |
+
"toaster_oven_left_group": {
|
| 631 |
+
"cls": "ToasterOven"
|
| 632 |
+
},
|
| 633 |
+
"paprika_left_group": {
|
| 634 |
+
"cls": "Accessory"
|
| 635 |
+
},
|
| 636 |
+
"cinnamon_left_group": {
|
| 637 |
+
"cls": "Accessory"
|
| 638 |
+
},
|
| 639 |
+
"turmeric_left_group": {
|
| 640 |
+
"cls": "Accessory"
|
| 641 |
+
},
|
| 642 |
+
"jar_left_group": {
|
| 643 |
+
"cls": "Accessory"
|
| 644 |
+
},
|
| 645 |
+
"jar_left_group_auxiliary_left_group": {
|
| 646 |
+
"cls": "Accessory"
|
| 647 |
+
},
|
| 648 |
+
"counter_1_right_group": {
|
| 649 |
+
"cls": "Counter"
|
| 650 |
+
},
|
| 651 |
+
"counter_corner_right_group": {
|
| 652 |
+
"cls": "Counter"
|
| 653 |
+
},
|
| 654 |
+
"fridge_right_group": {
|
| 655 |
+
"cls": "FridgeSideBySide"
|
| 656 |
+
},
|
| 657 |
+
"fridge_housing_right_group": {
|
| 658 |
+
"cls": "HousingCabinet"
|
| 659 |
+
},
|
| 660 |
+
"stack_1_right_group_base": {
|
| 661 |
+
"cls": "Box"
|
| 662 |
+
},
|
| 663 |
+
"stack_1_right_group_1": {
|
| 664 |
+
"cls": "HingeCabinet"
|
| 665 |
+
},
|
| 666 |
+
"stack_1_right_group_2": {
|
| 667 |
+
"cls": "Drawer"
|
| 668 |
+
},
|
| 669 |
+
"stack_1_right_group_3": {
|
| 670 |
+
"cls": "Drawer"
|
| 671 |
+
},
|
| 672 |
+
"stack_2_right_group_base": {
|
| 673 |
+
"cls": "Box"
|
| 674 |
+
},
|
| 675 |
+
"stack_2_right_group_1": {
|
| 676 |
+
"cls": "SingleCabinet"
|
| 677 |
+
},
|
| 678 |
+
"stack_2_right_group_2": {
|
| 679 |
+
"cls": "Drawer"
|
| 680 |
+
},
|
| 681 |
+
"stack_3_right_group_base": {
|
| 682 |
+
"cls": "Box"
|
| 683 |
+
},
|
| 684 |
+
"stack_3_right_group_1": {
|
| 685 |
+
"cls": "Drawer"
|
| 686 |
+
},
|
| 687 |
+
"stack_3_right_group_2": {
|
| 688 |
+
"cls": "Drawer"
|
| 689 |
+
},
|
| 690 |
+
"stack_3_right_group_3": {
|
| 691 |
+
"cls": "Drawer"
|
| 692 |
+
},
|
| 693 |
+
"stack_3_right_group_4": {
|
| 694 |
+
"cls": "Drawer"
|
| 695 |
+
},
|
| 696 |
+
"cab_1_right_group": {
|
| 697 |
+
"cls": "HingeCabinet"
|
| 698 |
+
},
|
| 699 |
+
"cab_2_right_group": {
|
| 700 |
+
"cls": "HingeCabinet"
|
| 701 |
+
},
|
| 702 |
+
"fridge_cab_right_group": {
|
| 703 |
+
"cls": "HingeCabinet"
|
| 704 |
+
},
|
| 705 |
+
"coffee_machine_right_group": {
|
| 706 |
+
"cls": "CoffeeMachine"
|
| 707 |
+
},
|
| 708 |
+
"toaster_right_group": {
|
| 709 |
+
"cls": "Toaster"
|
| 710 |
+
}
|
| 711 |
+
},
|
| 712 |
+
"gen_textures": {},
|
| 713 |
+
"lang": "Pick the chicken drumstick and broccoli from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 714 |
+
"fixture_refs": {
|
| 715 |
+
"stool1": "stool_1_room",
|
| 716 |
+
"stool2": "stool_2_room",
|
| 717 |
+
"dining_counter": "island_island_group",
|
| 718 |
+
"fridge": "fridge_right_group"
|
| 719 |
+
},
|
| 720 |
+
"cam_configs": {
|
| 721 |
+
"robot0_agentview_center": {
|
| 722 |
+
"pos": [
|
| 723 |
+
-0.6,
|
| 724 |
+
0.0,
|
| 725 |
+
1.15
|
| 726 |
+
],
|
| 727 |
+
"quat": [
|
| 728 |
+
0.636945903301239,
|
| 729 |
+
0.3325185477733612,
|
| 730 |
+
-0.3199238181114197,
|
| 731 |
+
-0.6175596117973328
|
| 732 |
+
],
|
| 733 |
+
"parent_body": "mobilebase0_support"
|
| 734 |
+
},
|
| 735 |
+
"robot0_agentview_left": {
|
| 736 |
+
"pos": [
|
| 737 |
+
-0.5,
|
| 738 |
+
0.35,
|
| 739 |
+
1.05
|
| 740 |
+
],
|
| 741 |
+
"quat": [
|
| 742 |
+
0.55623853,
|
| 743 |
+
0.29935253,
|
| 744 |
+
-0.37678665,
|
| 745 |
+
-0.6775092
|
| 746 |
+
],
|
| 747 |
+
"camera_attribs": {
|
| 748 |
+
"fovy": "60"
|
| 749 |
+
},
|
| 750 |
+
"parent_body": "mobilebase0_support"
|
| 751 |
+
},
|
| 752 |
+
"robot0_agentview_right": {
|
| 753 |
+
"pos": [
|
| 754 |
+
-0.5,
|
| 755 |
+
-0.35,
|
| 756 |
+
1.05
|
| 757 |
+
],
|
| 758 |
+
"quat": [
|
| 759 |
+
0.6775091886520386,
|
| 760 |
+
0.3767866790294647,
|
| 761 |
+
-0.2993525564670563,
|
| 762 |
+
-0.55623859167099
|
| 763 |
+
],
|
| 764 |
+
"camera_attribs": {
|
| 765 |
+
"fovy": "60"
|
| 766 |
+
},
|
| 767 |
+
"parent_body": "mobilebase0_support"
|
| 768 |
+
},
|
| 769 |
+
"robot0_frontview": {
|
| 770 |
+
"pos": [
|
| 771 |
+
-0.5,
|
| 772 |
+
0,
|
| 773 |
+
0.95
|
| 774 |
+
],
|
| 775 |
+
"quat": [
|
| 776 |
+
0.6088936924934387,
|
| 777 |
+
0.3814677894115448,
|
| 778 |
+
-0.3673907518386841,
|
| 779 |
+
-0.5905545353889465
|
| 780 |
+
],
|
| 781 |
+
"camera_attribs": {
|
| 782 |
+
"fovy": "60"
|
| 783 |
+
},
|
| 784 |
+
"parent_body": "mobilebase0_support"
|
| 785 |
+
},
|
| 786 |
+
"robot0_eye_in_hand": {
|
| 787 |
+
"pos": [
|
| 788 |
+
0.05,
|
| 789 |
+
0,
|
| 790 |
+
0
|
| 791 |
+
],
|
| 792 |
+
"quat": [
|
| 793 |
+
0,
|
| 794 |
+
0.707107,
|
| 795 |
+
0.707107,
|
| 796 |
+
0
|
| 797 |
+
],
|
| 798 |
+
"parent_body": "robot0_right_hand"
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"init_robot_base_pos": [
|
| 802 |
+
3.074583847895329,
|
| 803 |
+
-3.7569386764222172,
|
| 804 |
+
0.0
|
| 805 |
+
],
|
| 806 |
+
"init_robot_base_ori": [
|
| 807 |
+
0.0,
|
| 808 |
+
0.0,
|
| 809 |
+
7.85388898038469
|
| 810 |
+
]
|
| 811 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000083/ep_meta.json
ADDED
|
@@ -0,0 +1,648 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.247940875935,
|
| 14 |
+
0.24539034402000004,
|
| 15 |
+
0.01667049282
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.24568749157499997,
|
| 98 |
+
0.24474791709000002,
|
| 99 |
+
0.03850276869
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"broccoli",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"oven_ready"
|
| 165 |
+
],
|
| 166 |
+
"groups": [
|
| 167 |
+
"vegetable"
|
| 168 |
+
],
|
| 169 |
+
"cat": "broccoli",
|
| 170 |
+
"split": "test",
|
| 171 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "bowl",
|
| 176 |
+
"obj_groups": "bowl",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"placement": {
|
| 179 |
+
"fixture": "island_island_group",
|
| 180 |
+
"sample_region_kwargs": {
|
| 181 |
+
"ref": "stool_2_room",
|
| 182 |
+
"min_size": [
|
| 183 |
+
0.2599887809999999,
|
| 184 |
+
0.2592267287999999,
|
| 185 |
+
0.07434426739999996
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"size": [
|
| 189 |
+
1.0,
|
| 190 |
+
0.4
|
| 191 |
+
],
|
| 192 |
+
"pos": [
|
| 193 |
+
"ref",
|
| 194 |
+
"ref"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"type": "object",
|
| 198 |
+
"info": {
|
| 199 |
+
"groups_containing_sampled_obj": [
|
| 200 |
+
"all",
|
| 201 |
+
"bowl",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"stackable",
|
| 204 |
+
"group1",
|
| 205 |
+
"container_set2"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"bowl"
|
| 209 |
+
],
|
| 210 |
+
"cat": "bowl",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
|
| 213 |
+
},
|
| 214 |
+
"reset_region": {
|
| 215 |
+
"size": [
|
| 216 |
+
2.4399842052305356,
|
| 217 |
+
1.6
|
| 218 |
+
],
|
| 219 |
+
"offset": [
|
| 220 |
+
0.005007897384732285,
|
| 221 |
+
0.0,
|
| 222 |
+
0.46
|
| 223 |
+
],
|
| 224 |
+
"name": "geom_0"
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"name": "distr1",
|
| 229 |
+
"fridgable": true,
|
| 230 |
+
"placement": {
|
| 231 |
+
"fixture": "fridge_main_group",
|
| 232 |
+
"size": [
|
| 233 |
+
0.3,
|
| 234 |
+
0.3
|
| 235 |
+
],
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.3,
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"type": "object",
|
| 242 |
+
"info": {
|
| 243 |
+
"groups_containing_sampled_obj": [
|
| 244 |
+
"all",
|
| 245 |
+
"bagged_food",
|
| 246 |
+
"packaged_food"
|
| 247 |
+
],
|
| 248 |
+
"groups": [
|
| 249 |
+
"all"
|
| 250 |
+
],
|
| 251 |
+
"cat": "bagged_food",
|
| 252 |
+
"split": "test",
|
| 253 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_5/model.xml"
|
| 254 |
+
},
|
| 255 |
+
"reset_region": {
|
| 256 |
+
"offset": [
|
| 257 |
+
-0.0002632047656345171,
|
| 258 |
+
0.10788939929975168,
|
| 259 |
+
0.181412742979443
|
| 260 |
+
],
|
| 261 |
+
"size": [
|
| 262 |
+
0.7781439843759018,
|
| 263 |
+
0.5543220166326962
|
| 264 |
+
],
|
| 265 |
+
"name": "fridge_shelf0"
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"name": "distr2",
|
| 270 |
+
"fridgable": true,
|
| 271 |
+
"placement": {
|
| 272 |
+
"fixture": "fridge_main_group",
|
| 273 |
+
"size": [
|
| 274 |
+
0.3,
|
| 275 |
+
0.3
|
| 276 |
+
],
|
| 277 |
+
"pos": [
|
| 278 |
+
0.3,
|
| 279 |
+
1.0
|
| 280 |
+
]
|
| 281 |
+
},
|
| 282 |
+
"type": "object",
|
| 283 |
+
"info": {
|
| 284 |
+
"groups_containing_sampled_obj": [
|
| 285 |
+
"all",
|
| 286 |
+
"water_bottle",
|
| 287 |
+
"drink"
|
| 288 |
+
],
|
| 289 |
+
"groups": [
|
| 290 |
+
"all"
|
| 291 |
+
],
|
| 292 |
+
"cat": "water_bottle",
|
| 293 |
+
"split": "test",
|
| 294 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_5/model.xml"
|
| 295 |
+
},
|
| 296 |
+
"reset_region": {
|
| 297 |
+
"offset": [
|
| 298 |
+
5.222870163282267e-05,
|
| 299 |
+
0.10788939929975168,
|
| 300 |
+
0.5507136994887958
|
| 301 |
+
],
|
| 302 |
+
"size": [
|
| 303 |
+
0.7775131174413674,
|
| 304 |
+
0.5543220166326962
|
| 305 |
+
],
|
| 306 |
+
"name": "fridge_shelf1"
|
| 307 |
+
}
|
| 308 |
+
}
|
| 309 |
+
],
|
| 310 |
+
"fixtures": {
|
| 311 |
+
"wall_room": {
|
| 312 |
+
"cls": "Wall"
|
| 313 |
+
},
|
| 314 |
+
"wall_backing_room": {
|
| 315 |
+
"cls": "Wall"
|
| 316 |
+
},
|
| 317 |
+
"wall_left_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_left_backing_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"outlet_room": {
|
| 324 |
+
"cls": "WallAccessory"
|
| 325 |
+
},
|
| 326 |
+
"outlet_2_room": {
|
| 327 |
+
"cls": "WallAccessory"
|
| 328 |
+
},
|
| 329 |
+
"light_switch_room": {
|
| 330 |
+
"cls": "WallAccessory"
|
| 331 |
+
},
|
| 332 |
+
"light_switch_2_room": {
|
| 333 |
+
"cls": "WallAccessory"
|
| 334 |
+
},
|
| 335 |
+
"window_group_room": {
|
| 336 |
+
"cls": "Window"
|
| 337 |
+
},
|
| 338 |
+
"floor_room": {
|
| 339 |
+
"cls": "Floor"
|
| 340 |
+
},
|
| 341 |
+
"floor_backing_room": {
|
| 342 |
+
"cls": "Floor"
|
| 343 |
+
},
|
| 344 |
+
"stool_1_room": {
|
| 345 |
+
"cls": "Stool"
|
| 346 |
+
},
|
| 347 |
+
"stool_2_room": {
|
| 348 |
+
"cls": "Stool"
|
| 349 |
+
},
|
| 350 |
+
"stool_3_room": {
|
| 351 |
+
"cls": "Stool"
|
| 352 |
+
},
|
| 353 |
+
"counter_corner_main_main_group": {
|
| 354 |
+
"cls": "Counter"
|
| 355 |
+
},
|
| 356 |
+
"counter_main_main_group": {
|
| 357 |
+
"cls": "Counter"
|
| 358 |
+
},
|
| 359 |
+
"stovetop_main_group": {
|
| 360 |
+
"cls": "Stovetop"
|
| 361 |
+
},
|
| 362 |
+
"counter_1_right_main_group": {
|
| 363 |
+
"cls": "Counter"
|
| 364 |
+
},
|
| 365 |
+
"fridge_main_group": {
|
| 366 |
+
"cls": "FridgeFrenchDoor"
|
| 367 |
+
},
|
| 368 |
+
"fridge_housing_main_group": {
|
| 369 |
+
"cls": "HousingCabinet"
|
| 370 |
+
},
|
| 371 |
+
"stack_1_main_group_base": {
|
| 372 |
+
"cls": "Box"
|
| 373 |
+
},
|
| 374 |
+
"stack_1_main_group_1": {
|
| 375 |
+
"cls": "Drawer"
|
| 376 |
+
},
|
| 377 |
+
"stack_1_main_group_2": {
|
| 378 |
+
"cls": "Drawer"
|
| 379 |
+
},
|
| 380 |
+
"stack_1_main_group_3": {
|
| 381 |
+
"cls": "Drawer"
|
| 382 |
+
},
|
| 383 |
+
"stack_1_main_group_4": {
|
| 384 |
+
"cls": "Drawer"
|
| 385 |
+
},
|
| 386 |
+
"stack_2_main_group_base": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"stack_2_main_group_1": {
|
| 390 |
+
"cls": "HingeCabinet"
|
| 391 |
+
},
|
| 392 |
+
"stack_2_main_group_2": {
|
| 393 |
+
"cls": "PanelCabinet"
|
| 394 |
+
},
|
| 395 |
+
"stack_3_main_group_base": {
|
| 396 |
+
"cls": "Box"
|
| 397 |
+
},
|
| 398 |
+
"stack_3_main_group_1": {
|
| 399 |
+
"cls": "HingeCabinet"
|
| 400 |
+
},
|
| 401 |
+
"stack_3_main_group_2": {
|
| 402 |
+
"cls": "Drawer"
|
| 403 |
+
},
|
| 404 |
+
"stack_3_main_group_3": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"hood_main_group": {
|
| 408 |
+
"cls": "Hood"
|
| 409 |
+
},
|
| 410 |
+
"cab_main_main_group": {
|
| 411 |
+
"cls": "HingeCabinet"
|
| 412 |
+
},
|
| 413 |
+
"shelves_main_group": {
|
| 414 |
+
"cls": "OpenCabinet"
|
| 415 |
+
},
|
| 416 |
+
"fridge_cab_main_group": {
|
| 417 |
+
"cls": "HingeCabinet"
|
| 418 |
+
},
|
| 419 |
+
"paper_towel_main_group": {
|
| 420 |
+
"cls": "Accessory"
|
| 421 |
+
},
|
| 422 |
+
"knife_block_main_group": {
|
| 423 |
+
"cls": "Accessory"
|
| 424 |
+
},
|
| 425 |
+
"toaster_main_group": {
|
| 426 |
+
"cls": "Toaster"
|
| 427 |
+
},
|
| 428 |
+
"utensil_set_main_group": {
|
| 429 |
+
"cls": "Accessory"
|
| 430 |
+
},
|
| 431 |
+
"toaster_oven_main_group": {
|
| 432 |
+
"cls": "ToasterOven"
|
| 433 |
+
},
|
| 434 |
+
"jar_main_group": {
|
| 435 |
+
"cls": "Accessory"
|
| 436 |
+
},
|
| 437 |
+
"jar_2_main_group": {
|
| 438 |
+
"cls": "Accessory"
|
| 439 |
+
},
|
| 440 |
+
"glass_cup_main_group": {
|
| 441 |
+
"cls": "Accessory"
|
| 442 |
+
},
|
| 443 |
+
"glass_cup_2_main_group": {
|
| 444 |
+
"cls": "Accessory"
|
| 445 |
+
},
|
| 446 |
+
"jar_main_group_auxiliary_main_group": {
|
| 447 |
+
"cls": "Accessory"
|
| 448 |
+
},
|
| 449 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 450 |
+
"cls": "Accessory"
|
| 451 |
+
},
|
| 452 |
+
"cab_1_left_group": {
|
| 453 |
+
"cls": "SingleCabinet"
|
| 454 |
+
},
|
| 455 |
+
"cab_2_left_group": {
|
| 456 |
+
"cls": "SingleCabinet"
|
| 457 |
+
},
|
| 458 |
+
"cab_corner_3_left_group": {
|
| 459 |
+
"cls": "Box"
|
| 460 |
+
},
|
| 461 |
+
"cab_corner_4_left_group": {
|
| 462 |
+
"cls": "Box"
|
| 463 |
+
},
|
| 464 |
+
"sink_left_group": {
|
| 465 |
+
"cls": "Sink"
|
| 466 |
+
},
|
| 467 |
+
"counter_1_left_left_group": {
|
| 468 |
+
"cls": "Counter"
|
| 469 |
+
},
|
| 470 |
+
"counter_corner_left_group": {
|
| 471 |
+
"cls": "Counter"
|
| 472 |
+
},
|
| 473 |
+
"bottom_left_group_base": {
|
| 474 |
+
"cls": "Box"
|
| 475 |
+
},
|
| 476 |
+
"bottom_left_group_1": {
|
| 477 |
+
"cls": "Drawer"
|
| 478 |
+
},
|
| 479 |
+
"bottom_left_group_2": {
|
| 480 |
+
"cls": "Drawer"
|
| 481 |
+
},
|
| 482 |
+
"oven_left_group": {
|
| 483 |
+
"cls": "Oven"
|
| 484 |
+
},
|
| 485 |
+
"oven_housing_left_group": {
|
| 486 |
+
"cls": "HousingCabinet"
|
| 487 |
+
},
|
| 488 |
+
"microwave_left_group": {
|
| 489 |
+
"cls": "Microwave"
|
| 490 |
+
},
|
| 491 |
+
"micro_housing_left_group": {
|
| 492 |
+
"cls": "HousingCabinet"
|
| 493 |
+
},
|
| 494 |
+
"top_left_group": {
|
| 495 |
+
"cls": "HingeCabinet"
|
| 496 |
+
},
|
| 497 |
+
"stack_1_left_group": {
|
| 498 |
+
"cls": "SingleCabinet"
|
| 499 |
+
},
|
| 500 |
+
"dishwasher_left_group": {
|
| 501 |
+
"cls": "Dishwasher"
|
| 502 |
+
},
|
| 503 |
+
"stack_2_left_group_base": {
|
| 504 |
+
"cls": "Box"
|
| 505 |
+
},
|
| 506 |
+
"stack_2_left_group_1": {
|
| 507 |
+
"cls": "HingeCabinet"
|
| 508 |
+
},
|
| 509 |
+
"stack_2_left_group_2": {
|
| 510 |
+
"cls": "PanelCabinet"
|
| 511 |
+
},
|
| 512 |
+
"stack_3_left_group_base": {
|
| 513 |
+
"cls": "Box"
|
| 514 |
+
},
|
| 515 |
+
"stack_3_left_group_1": {
|
| 516 |
+
"cls": "HingeCabinet"
|
| 517 |
+
},
|
| 518 |
+
"stack_3_left_group_2": {
|
| 519 |
+
"cls": "Drawer"
|
| 520 |
+
},
|
| 521 |
+
"stack_3_left_group_3": {
|
| 522 |
+
"cls": "Drawer"
|
| 523 |
+
},
|
| 524 |
+
"coffee_machine_left_group": {
|
| 525 |
+
"cls": "CoffeeMachine"
|
| 526 |
+
},
|
| 527 |
+
"soap_dispenser_left_group": {
|
| 528 |
+
"cls": "Accessory"
|
| 529 |
+
},
|
| 530 |
+
"tiered_basket_left_group": {
|
| 531 |
+
"cls": "Accessory"
|
| 532 |
+
},
|
| 533 |
+
"island_island_group": {
|
| 534 |
+
"cls": "Counter"
|
| 535 |
+
},
|
| 536 |
+
"plant_island_group": {
|
| 537 |
+
"cls": "Accessory"
|
| 538 |
+
},
|
| 539 |
+
"fruit_bowl_island_group": {
|
| 540 |
+
"cls": "Accessory"
|
| 541 |
+
},
|
| 542 |
+
"salt_shaker_island_group": {
|
| 543 |
+
"cls": "Accessory"
|
| 544 |
+
},
|
| 545 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 546 |
+
"cls": "Accessory"
|
| 547 |
+
}
|
| 548 |
+
},
|
| 549 |
+
"gen_textures": {},
|
| 550 |
+
"lang": "Pick the chicken drumstick and broccoli from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 551 |
+
"fixture_refs": {
|
| 552 |
+
"stool1": "stool_1_room",
|
| 553 |
+
"stool2": "stool_2_room",
|
| 554 |
+
"dining_counter": "island_island_group",
|
| 555 |
+
"fridge": "fridge_main_group"
|
| 556 |
+
},
|
| 557 |
+
"cam_configs": {
|
| 558 |
+
"robot0_agentview_center": {
|
| 559 |
+
"pos": [
|
| 560 |
+
-0.6,
|
| 561 |
+
0.0,
|
| 562 |
+
1.15
|
| 563 |
+
],
|
| 564 |
+
"quat": [
|
| 565 |
+
0.636945903301239,
|
| 566 |
+
0.3325185477733612,
|
| 567 |
+
-0.3199238181114197,
|
| 568 |
+
-0.6175596117973328
|
| 569 |
+
],
|
| 570 |
+
"parent_body": "mobilebase0_support"
|
| 571 |
+
},
|
| 572 |
+
"robot0_agentview_left": {
|
| 573 |
+
"pos": [
|
| 574 |
+
-0.5,
|
| 575 |
+
0.35,
|
| 576 |
+
1.05
|
| 577 |
+
],
|
| 578 |
+
"quat": [
|
| 579 |
+
0.55623853,
|
| 580 |
+
0.29935253,
|
| 581 |
+
-0.37678665,
|
| 582 |
+
-0.6775092
|
| 583 |
+
],
|
| 584 |
+
"camera_attribs": {
|
| 585 |
+
"fovy": "60"
|
| 586 |
+
},
|
| 587 |
+
"parent_body": "mobilebase0_support"
|
| 588 |
+
},
|
| 589 |
+
"robot0_agentview_right": {
|
| 590 |
+
"pos": [
|
| 591 |
+
-0.5,
|
| 592 |
+
-0.35,
|
| 593 |
+
1.05
|
| 594 |
+
],
|
| 595 |
+
"quat": [
|
| 596 |
+
0.6775091886520386,
|
| 597 |
+
0.3767866790294647,
|
| 598 |
+
-0.2993525564670563,
|
| 599 |
+
-0.55623859167099
|
| 600 |
+
],
|
| 601 |
+
"camera_attribs": {
|
| 602 |
+
"fovy": "60"
|
| 603 |
+
},
|
| 604 |
+
"parent_body": "mobilebase0_support"
|
| 605 |
+
},
|
| 606 |
+
"robot0_frontview": {
|
| 607 |
+
"pos": [
|
| 608 |
+
-0.5,
|
| 609 |
+
0,
|
| 610 |
+
0.95
|
| 611 |
+
],
|
| 612 |
+
"quat": [
|
| 613 |
+
0.6088936924934387,
|
| 614 |
+
0.3814677894115448,
|
| 615 |
+
-0.3673907518386841,
|
| 616 |
+
-0.5905545353889465
|
| 617 |
+
],
|
| 618 |
+
"camera_attribs": {
|
| 619 |
+
"fovy": "60"
|
| 620 |
+
},
|
| 621 |
+
"parent_body": "mobilebase0_support"
|
| 622 |
+
},
|
| 623 |
+
"robot0_eye_in_hand": {
|
| 624 |
+
"pos": [
|
| 625 |
+
0.05,
|
| 626 |
+
0,
|
| 627 |
+
0
|
| 628 |
+
],
|
| 629 |
+
"quat": [
|
| 630 |
+
0,
|
| 631 |
+
0.707107,
|
| 632 |
+
0.707107,
|
| 633 |
+
0
|
| 634 |
+
],
|
| 635 |
+
"parent_body": "robot0_right_hand"
|
| 636 |
+
}
|
| 637 |
+
},
|
| 638 |
+
"init_robot_base_pos": [
|
| 639 |
+
4.032406608407575,
|
| 640 |
+
-3.350008601053802,
|
| 641 |
+
0.0
|
| 642 |
+
],
|
| 643 |
+
"init_robot_base_ori": [
|
| 644 |
+
0.0,
|
| 645 |
+
0.0,
|
| 646 |
+
3.1415889803846895
|
| 647 |
+
]
|
| 648 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000086/ep_meta.json
ADDED
|
@@ -0,0 +1,652 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.244743326685,
|
| 14 |
+
0.24474403597500002,
|
| 15 |
+
0.023217144615000004
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.24720248007000004,
|
| 98 |
+
0.24572606796000004,
|
| 99 |
+
0.012934327725
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"broccoli",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"oven_ready"
|
| 165 |
+
],
|
| 166 |
+
"groups": [
|
| 167 |
+
"vegetable"
|
| 168 |
+
],
|
| 169 |
+
"cat": "broccoli",
|
| 170 |
+
"split": "test",
|
| 171 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "bowl",
|
| 176 |
+
"obj_groups": "bowl",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"placement": {
|
| 179 |
+
"fixture": "island_island_group",
|
| 180 |
+
"sample_region_kwargs": {
|
| 181 |
+
"ref": "stool_2_room",
|
| 182 |
+
"min_size": [
|
| 183 |
+
0.2599887809999999,
|
| 184 |
+
0.2592267287999999,
|
| 185 |
+
0.07434426739999996
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"size": [
|
| 189 |
+
1.0,
|
| 190 |
+
0.4
|
| 191 |
+
],
|
| 192 |
+
"pos": [
|
| 193 |
+
"ref",
|
| 194 |
+
"ref"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"type": "object",
|
| 198 |
+
"info": {
|
| 199 |
+
"groups_containing_sampled_obj": [
|
| 200 |
+
"all",
|
| 201 |
+
"bowl",
|
| 202 |
+
"stackable",
|
| 203 |
+
"receptacle",
|
| 204 |
+
"group1",
|
| 205 |
+
"container_set2"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"bowl"
|
| 209 |
+
],
|
| 210 |
+
"cat": "bowl",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
|
| 213 |
+
},
|
| 214 |
+
"reset_region": {
|
| 215 |
+
"size": [
|
| 216 |
+
2.4399842052305356,
|
| 217 |
+
1.6
|
| 218 |
+
],
|
| 219 |
+
"offset": [
|
| 220 |
+
0.005007897384732285,
|
| 221 |
+
0.0,
|
| 222 |
+
0.46
|
| 223 |
+
],
|
| 224 |
+
"name": "geom_0"
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"name": "distr1",
|
| 229 |
+
"fridgable": true,
|
| 230 |
+
"placement": {
|
| 231 |
+
"fixture": "fridge_main_group",
|
| 232 |
+
"size": [
|
| 233 |
+
0.3,
|
| 234 |
+
0.3
|
| 235 |
+
],
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.3,
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"type": "object",
|
| 242 |
+
"info": {
|
| 243 |
+
"groups_containing_sampled_obj": [
|
| 244 |
+
"all",
|
| 245 |
+
"pitcher",
|
| 246 |
+
"receptacle"
|
| 247 |
+
],
|
| 248 |
+
"groups": [
|
| 249 |
+
"all"
|
| 250 |
+
],
|
| 251 |
+
"cat": "pitcher",
|
| 252 |
+
"split": "test",
|
| 253 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher015/model.xml"
|
| 254 |
+
},
|
| 255 |
+
"reset_region": {
|
| 256 |
+
"offset": [
|
| 257 |
+
-0.0002632047656345171,
|
| 258 |
+
0.10788939929975168,
|
| 259 |
+
0.181412742979443
|
| 260 |
+
],
|
| 261 |
+
"size": [
|
| 262 |
+
0.7781439843759018,
|
| 263 |
+
0.5543220166326962
|
| 264 |
+
],
|
| 265 |
+
"name": "fridge_shelf0"
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"name": "distr2",
|
| 270 |
+
"fridgable": true,
|
| 271 |
+
"placement": {
|
| 272 |
+
"fixture": "fridge_main_group",
|
| 273 |
+
"size": [
|
| 274 |
+
0.3,
|
| 275 |
+
0.3
|
| 276 |
+
],
|
| 277 |
+
"pos": [
|
| 278 |
+
0.3,
|
| 279 |
+
1.0
|
| 280 |
+
]
|
| 281 |
+
},
|
| 282 |
+
"type": "object",
|
| 283 |
+
"info": {
|
| 284 |
+
"groups_containing_sampled_obj": [
|
| 285 |
+
"all",
|
| 286 |
+
"banana",
|
| 287 |
+
"fruit",
|
| 288 |
+
"food",
|
| 289 |
+
"in_container",
|
| 290 |
+
"food_set1",
|
| 291 |
+
"group1"
|
| 292 |
+
],
|
| 293 |
+
"groups": [
|
| 294 |
+
"all"
|
| 295 |
+
],
|
| 296 |
+
"cat": "banana",
|
| 297 |
+
"split": "test",
|
| 298 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_5/model.xml"
|
| 299 |
+
},
|
| 300 |
+
"reset_region": {
|
| 301 |
+
"offset": [
|
| 302 |
+
-0.0002632047656345171,
|
| 303 |
+
0.10788939929975168,
|
| 304 |
+
0.181412742979443
|
| 305 |
+
],
|
| 306 |
+
"size": [
|
| 307 |
+
0.7781439843759018,
|
| 308 |
+
0.5543220166326962
|
| 309 |
+
],
|
| 310 |
+
"name": "fridge_shelf0"
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"fixtures": {
|
| 315 |
+
"wall_room": {
|
| 316 |
+
"cls": "Wall"
|
| 317 |
+
},
|
| 318 |
+
"wall_backing_room": {
|
| 319 |
+
"cls": "Wall"
|
| 320 |
+
},
|
| 321 |
+
"wall_left_room": {
|
| 322 |
+
"cls": "Wall"
|
| 323 |
+
},
|
| 324 |
+
"wall_left_backing_room": {
|
| 325 |
+
"cls": "Wall"
|
| 326 |
+
},
|
| 327 |
+
"outlet_room": {
|
| 328 |
+
"cls": "WallAccessory"
|
| 329 |
+
},
|
| 330 |
+
"outlet_2_room": {
|
| 331 |
+
"cls": "WallAccessory"
|
| 332 |
+
},
|
| 333 |
+
"light_switch_room": {
|
| 334 |
+
"cls": "WallAccessory"
|
| 335 |
+
},
|
| 336 |
+
"light_switch_2_room": {
|
| 337 |
+
"cls": "WallAccessory"
|
| 338 |
+
},
|
| 339 |
+
"window_group_room": {
|
| 340 |
+
"cls": "Window"
|
| 341 |
+
},
|
| 342 |
+
"floor_room": {
|
| 343 |
+
"cls": "Floor"
|
| 344 |
+
},
|
| 345 |
+
"floor_backing_room": {
|
| 346 |
+
"cls": "Floor"
|
| 347 |
+
},
|
| 348 |
+
"stool_1_room": {
|
| 349 |
+
"cls": "Stool"
|
| 350 |
+
},
|
| 351 |
+
"stool_2_room": {
|
| 352 |
+
"cls": "Stool"
|
| 353 |
+
},
|
| 354 |
+
"stool_3_room": {
|
| 355 |
+
"cls": "Stool"
|
| 356 |
+
},
|
| 357 |
+
"counter_corner_main_main_group": {
|
| 358 |
+
"cls": "Counter"
|
| 359 |
+
},
|
| 360 |
+
"counter_main_main_group": {
|
| 361 |
+
"cls": "Counter"
|
| 362 |
+
},
|
| 363 |
+
"stovetop_main_group": {
|
| 364 |
+
"cls": "Stovetop"
|
| 365 |
+
},
|
| 366 |
+
"counter_1_right_main_group": {
|
| 367 |
+
"cls": "Counter"
|
| 368 |
+
},
|
| 369 |
+
"fridge_main_group": {
|
| 370 |
+
"cls": "FridgeFrenchDoor"
|
| 371 |
+
},
|
| 372 |
+
"fridge_housing_main_group": {
|
| 373 |
+
"cls": "HousingCabinet"
|
| 374 |
+
},
|
| 375 |
+
"stack_1_main_group_base": {
|
| 376 |
+
"cls": "Box"
|
| 377 |
+
},
|
| 378 |
+
"stack_1_main_group_1": {
|
| 379 |
+
"cls": "Drawer"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_main_group_2": {
|
| 382 |
+
"cls": "Drawer"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_main_group_3": {
|
| 385 |
+
"cls": "Drawer"
|
| 386 |
+
},
|
| 387 |
+
"stack_1_main_group_4": {
|
| 388 |
+
"cls": "Drawer"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_main_group_base": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_main_group_1": {
|
| 394 |
+
"cls": "HingeCabinet"
|
| 395 |
+
},
|
| 396 |
+
"stack_2_main_group_2": {
|
| 397 |
+
"cls": "PanelCabinet"
|
| 398 |
+
},
|
| 399 |
+
"stack_3_main_group_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"stack_3_main_group_1": {
|
| 403 |
+
"cls": "HingeCabinet"
|
| 404 |
+
},
|
| 405 |
+
"stack_3_main_group_2": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_3_main_group_3": {
|
| 409 |
+
"cls": "Drawer"
|
| 410 |
+
},
|
| 411 |
+
"hood_main_group": {
|
| 412 |
+
"cls": "Hood"
|
| 413 |
+
},
|
| 414 |
+
"cab_main_main_group": {
|
| 415 |
+
"cls": "HingeCabinet"
|
| 416 |
+
},
|
| 417 |
+
"shelves_main_group": {
|
| 418 |
+
"cls": "OpenCabinet"
|
| 419 |
+
},
|
| 420 |
+
"fridge_cab_main_group": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"paper_towel_main_group": {
|
| 424 |
+
"cls": "Accessory"
|
| 425 |
+
},
|
| 426 |
+
"knife_block_main_group": {
|
| 427 |
+
"cls": "Accessory"
|
| 428 |
+
},
|
| 429 |
+
"toaster_main_group": {
|
| 430 |
+
"cls": "Toaster"
|
| 431 |
+
},
|
| 432 |
+
"utensil_set_main_group": {
|
| 433 |
+
"cls": "Accessory"
|
| 434 |
+
},
|
| 435 |
+
"toaster_oven_main_group": {
|
| 436 |
+
"cls": "ToasterOven"
|
| 437 |
+
},
|
| 438 |
+
"jar_main_group": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
},
|
| 441 |
+
"jar_2_main_group": {
|
| 442 |
+
"cls": "Accessory"
|
| 443 |
+
},
|
| 444 |
+
"glass_cup_main_group": {
|
| 445 |
+
"cls": "Accessory"
|
| 446 |
+
},
|
| 447 |
+
"glass_cup_2_main_group": {
|
| 448 |
+
"cls": "Accessory"
|
| 449 |
+
},
|
| 450 |
+
"jar_main_group_auxiliary_main_group": {
|
| 451 |
+
"cls": "Accessory"
|
| 452 |
+
},
|
| 453 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 454 |
+
"cls": "Accessory"
|
| 455 |
+
},
|
| 456 |
+
"cab_1_left_group": {
|
| 457 |
+
"cls": "SingleCabinet"
|
| 458 |
+
},
|
| 459 |
+
"cab_2_left_group": {
|
| 460 |
+
"cls": "SingleCabinet"
|
| 461 |
+
},
|
| 462 |
+
"cab_corner_3_left_group": {
|
| 463 |
+
"cls": "Box"
|
| 464 |
+
},
|
| 465 |
+
"cab_corner_4_left_group": {
|
| 466 |
+
"cls": "Box"
|
| 467 |
+
},
|
| 468 |
+
"sink_left_group": {
|
| 469 |
+
"cls": "Sink"
|
| 470 |
+
},
|
| 471 |
+
"counter_1_left_left_group": {
|
| 472 |
+
"cls": "Counter"
|
| 473 |
+
},
|
| 474 |
+
"counter_corner_left_group": {
|
| 475 |
+
"cls": "Counter"
|
| 476 |
+
},
|
| 477 |
+
"bottom_left_group_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"bottom_left_group_1": {
|
| 481 |
+
"cls": "Drawer"
|
| 482 |
+
},
|
| 483 |
+
"bottom_left_group_2": {
|
| 484 |
+
"cls": "Drawer"
|
| 485 |
+
},
|
| 486 |
+
"oven_left_group": {
|
| 487 |
+
"cls": "Oven"
|
| 488 |
+
},
|
| 489 |
+
"oven_housing_left_group": {
|
| 490 |
+
"cls": "HousingCabinet"
|
| 491 |
+
},
|
| 492 |
+
"microwave_left_group": {
|
| 493 |
+
"cls": "Microwave"
|
| 494 |
+
},
|
| 495 |
+
"micro_housing_left_group": {
|
| 496 |
+
"cls": "HousingCabinet"
|
| 497 |
+
},
|
| 498 |
+
"top_left_group": {
|
| 499 |
+
"cls": "HingeCabinet"
|
| 500 |
+
},
|
| 501 |
+
"stack_1_left_group": {
|
| 502 |
+
"cls": "SingleCabinet"
|
| 503 |
+
},
|
| 504 |
+
"dishwasher_left_group": {
|
| 505 |
+
"cls": "Dishwasher"
|
| 506 |
+
},
|
| 507 |
+
"stack_2_left_group_base": {
|
| 508 |
+
"cls": "Box"
|
| 509 |
+
},
|
| 510 |
+
"stack_2_left_group_1": {
|
| 511 |
+
"cls": "HingeCabinet"
|
| 512 |
+
},
|
| 513 |
+
"stack_2_left_group_2": {
|
| 514 |
+
"cls": "PanelCabinet"
|
| 515 |
+
},
|
| 516 |
+
"stack_3_left_group_base": {
|
| 517 |
+
"cls": "Box"
|
| 518 |
+
},
|
| 519 |
+
"stack_3_left_group_1": {
|
| 520 |
+
"cls": "HingeCabinet"
|
| 521 |
+
},
|
| 522 |
+
"stack_3_left_group_2": {
|
| 523 |
+
"cls": "Drawer"
|
| 524 |
+
},
|
| 525 |
+
"stack_3_left_group_3": {
|
| 526 |
+
"cls": "Drawer"
|
| 527 |
+
},
|
| 528 |
+
"coffee_machine_left_group": {
|
| 529 |
+
"cls": "CoffeeMachine"
|
| 530 |
+
},
|
| 531 |
+
"soap_dispenser_left_group": {
|
| 532 |
+
"cls": "Accessory"
|
| 533 |
+
},
|
| 534 |
+
"tiered_basket_left_group": {
|
| 535 |
+
"cls": "Accessory"
|
| 536 |
+
},
|
| 537 |
+
"island_island_group": {
|
| 538 |
+
"cls": "Counter"
|
| 539 |
+
},
|
| 540 |
+
"plant_island_group": {
|
| 541 |
+
"cls": "Accessory"
|
| 542 |
+
},
|
| 543 |
+
"fruit_bowl_island_group": {
|
| 544 |
+
"cls": "Accessory"
|
| 545 |
+
},
|
| 546 |
+
"salt_shaker_island_group": {
|
| 547 |
+
"cls": "Accessory"
|
| 548 |
+
},
|
| 549 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 550 |
+
"cls": "Accessory"
|
| 551 |
+
}
|
| 552 |
+
},
|
| 553 |
+
"gen_textures": {},
|
| 554 |
+
"lang": "Pick the chicken drumstick and broccoli from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 555 |
+
"fixture_refs": {
|
| 556 |
+
"stool1": "stool_1_room",
|
| 557 |
+
"stool2": "stool_2_room",
|
| 558 |
+
"dining_counter": "island_island_group",
|
| 559 |
+
"fridge": "fridge_main_group"
|
| 560 |
+
},
|
| 561 |
+
"cam_configs": {
|
| 562 |
+
"robot0_agentview_center": {
|
| 563 |
+
"pos": [
|
| 564 |
+
-0.6,
|
| 565 |
+
0.0,
|
| 566 |
+
1.15
|
| 567 |
+
],
|
| 568 |
+
"quat": [
|
| 569 |
+
0.636945903301239,
|
| 570 |
+
0.3325185477733612,
|
| 571 |
+
-0.3199238181114197,
|
| 572 |
+
-0.6175596117973328
|
| 573 |
+
],
|
| 574 |
+
"parent_body": "mobilebase0_support"
|
| 575 |
+
},
|
| 576 |
+
"robot0_agentview_left": {
|
| 577 |
+
"pos": [
|
| 578 |
+
-0.5,
|
| 579 |
+
0.35,
|
| 580 |
+
1.05
|
| 581 |
+
],
|
| 582 |
+
"quat": [
|
| 583 |
+
0.55623853,
|
| 584 |
+
0.29935253,
|
| 585 |
+
-0.37678665,
|
| 586 |
+
-0.6775092
|
| 587 |
+
],
|
| 588 |
+
"camera_attribs": {
|
| 589 |
+
"fovy": "60"
|
| 590 |
+
},
|
| 591 |
+
"parent_body": "mobilebase0_support"
|
| 592 |
+
},
|
| 593 |
+
"robot0_agentview_right": {
|
| 594 |
+
"pos": [
|
| 595 |
+
-0.5,
|
| 596 |
+
-0.35,
|
| 597 |
+
1.05
|
| 598 |
+
],
|
| 599 |
+
"quat": [
|
| 600 |
+
0.6775091886520386,
|
| 601 |
+
0.3767866790294647,
|
| 602 |
+
-0.2993525564670563,
|
| 603 |
+
-0.55623859167099
|
| 604 |
+
],
|
| 605 |
+
"camera_attribs": {
|
| 606 |
+
"fovy": "60"
|
| 607 |
+
},
|
| 608 |
+
"parent_body": "mobilebase0_support"
|
| 609 |
+
},
|
| 610 |
+
"robot0_frontview": {
|
| 611 |
+
"pos": [
|
| 612 |
+
-0.5,
|
| 613 |
+
0,
|
| 614 |
+
0.95
|
| 615 |
+
],
|
| 616 |
+
"quat": [
|
| 617 |
+
0.6088936924934387,
|
| 618 |
+
0.3814677894115448,
|
| 619 |
+
-0.3673907518386841,
|
| 620 |
+
-0.5905545353889465
|
| 621 |
+
],
|
| 622 |
+
"camera_attribs": {
|
| 623 |
+
"fovy": "60"
|
| 624 |
+
},
|
| 625 |
+
"parent_body": "mobilebase0_support"
|
| 626 |
+
},
|
| 627 |
+
"robot0_eye_in_hand": {
|
| 628 |
+
"pos": [
|
| 629 |
+
0.05,
|
| 630 |
+
0,
|
| 631 |
+
0
|
| 632 |
+
],
|
| 633 |
+
"quat": [
|
| 634 |
+
0,
|
| 635 |
+
0.707107,
|
| 636 |
+
0.707107,
|
| 637 |
+
0
|
| 638 |
+
],
|
| 639 |
+
"parent_body": "robot0_right_hand"
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
"init_robot_base_pos": [
|
| 643 |
+
4.023459961620754,
|
| 644 |
+
-3.1678206026758207,
|
| 645 |
+
0.0
|
| 646 |
+
],
|
| 647 |
+
"init_robot_base_ori": [
|
| 648 |
+
0.0,
|
| 649 |
+
0.0,
|
| 650 |
+
3.1415889803846895
|
| 651 |
+
]
|
| 652 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000138/ep_meta.json
ADDED
|
@@ -0,0 +1,649 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.244743326685,
|
| 14 |
+
0.24474403597500002,
|
| 15 |
+
0.023217144615000004
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.247940875935,
|
| 98 |
+
0.24539034402000004,
|
| 99 |
+
0.01667049282
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"carrot",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"food_set1",
|
| 165 |
+
"group1"
|
| 166 |
+
],
|
| 167 |
+
"groups": [
|
| 168 |
+
"vegetable"
|
| 169 |
+
],
|
| 170 |
+
"cat": "carrot",
|
| 171 |
+
"split": "test",
|
| 172 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml"
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"name": "bowl",
|
| 177 |
+
"obj_groups": "bowl",
|
| 178 |
+
"graspable": true,
|
| 179 |
+
"placement": {
|
| 180 |
+
"fixture": "island_island_group",
|
| 181 |
+
"sample_region_kwargs": {
|
| 182 |
+
"ref": "stool_2_room",
|
| 183 |
+
"min_size": [
|
| 184 |
+
0.2599887809999999,
|
| 185 |
+
0.2592267287999999,
|
| 186 |
+
0.07434426739999996
|
| 187 |
+
]
|
| 188 |
+
},
|
| 189 |
+
"size": [
|
| 190 |
+
1.0,
|
| 191 |
+
0.4
|
| 192 |
+
],
|
| 193 |
+
"pos": [
|
| 194 |
+
"ref",
|
| 195 |
+
"ref"
|
| 196 |
+
]
|
| 197 |
+
},
|
| 198 |
+
"type": "object",
|
| 199 |
+
"info": {
|
| 200 |
+
"groups_containing_sampled_obj": [
|
| 201 |
+
"all",
|
| 202 |
+
"bowl",
|
| 203 |
+
"stackable",
|
| 204 |
+
"receptacle",
|
| 205 |
+
"group1",
|
| 206 |
+
"container_set2"
|
| 207 |
+
],
|
| 208 |
+
"groups": [
|
| 209 |
+
"bowl"
|
| 210 |
+
],
|
| 211 |
+
"cat": "bowl",
|
| 212 |
+
"split": "test",
|
| 213 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
|
| 214 |
+
},
|
| 215 |
+
"reset_region": {
|
| 216 |
+
"size": [
|
| 217 |
+
2.4399842052305356,
|
| 218 |
+
1.6
|
| 219 |
+
],
|
| 220 |
+
"offset": [
|
| 221 |
+
0.005007897384732285,
|
| 222 |
+
0.0,
|
| 223 |
+
0.46
|
| 224 |
+
],
|
| 225 |
+
"name": "geom_0"
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"name": "distr1",
|
| 230 |
+
"fridgable": true,
|
| 231 |
+
"placement": {
|
| 232 |
+
"fixture": "fridge_main_group",
|
| 233 |
+
"size": [
|
| 234 |
+
0.3,
|
| 235 |
+
0.3
|
| 236 |
+
],
|
| 237 |
+
"pos": [
|
| 238 |
+
-0.3,
|
| 239 |
+
1.0
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
"type": "object",
|
| 243 |
+
"info": {
|
| 244 |
+
"groups_containing_sampled_obj": [
|
| 245 |
+
"all",
|
| 246 |
+
"mustard",
|
| 247 |
+
"condiment"
|
| 248 |
+
],
|
| 249 |
+
"groups": [
|
| 250 |
+
"all"
|
| 251 |
+
],
|
| 252 |
+
"cat": "mustard",
|
| 253 |
+
"split": "test",
|
| 254 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard012/model.xml"
|
| 255 |
+
},
|
| 256 |
+
"reset_region": {
|
| 257 |
+
"offset": [
|
| 258 |
+
5.222870163282267e-05,
|
| 259 |
+
0.10788939929975168,
|
| 260 |
+
0.5507136994887958
|
| 261 |
+
],
|
| 262 |
+
"size": [
|
| 263 |
+
0.7775131174413674,
|
| 264 |
+
0.5543220166326962
|
| 265 |
+
],
|
| 266 |
+
"name": "fridge_shelf1"
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"name": "distr2",
|
| 271 |
+
"fridgable": true,
|
| 272 |
+
"placement": {
|
| 273 |
+
"fixture": "fridge_main_group",
|
| 274 |
+
"size": [
|
| 275 |
+
0.3,
|
| 276 |
+
0.3
|
| 277 |
+
],
|
| 278 |
+
"pos": [
|
| 279 |
+
0.3,
|
| 280 |
+
1.0
|
| 281 |
+
]
|
| 282 |
+
},
|
| 283 |
+
"type": "object",
|
| 284 |
+
"info": {
|
| 285 |
+
"groups_containing_sampled_obj": [
|
| 286 |
+
"all",
|
| 287 |
+
"bottled_water",
|
| 288 |
+
"drink"
|
| 289 |
+
],
|
| 290 |
+
"groups": [
|
| 291 |
+
"all"
|
| 292 |
+
],
|
| 293 |
+
"cat": "bottled_water",
|
| 294 |
+
"split": "test",
|
| 295 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_8/model.xml"
|
| 296 |
+
},
|
| 297 |
+
"reset_region": {
|
| 298 |
+
"offset": [
|
| 299 |
+
5.222870163282267e-05,
|
| 300 |
+
0.10788939929975168,
|
| 301 |
+
0.5507136994887958
|
| 302 |
+
],
|
| 303 |
+
"size": [
|
| 304 |
+
0.7775131174413674,
|
| 305 |
+
0.5543220166326962
|
| 306 |
+
],
|
| 307 |
+
"name": "fridge_shelf1"
|
| 308 |
+
}
|
| 309 |
+
}
|
| 310 |
+
],
|
| 311 |
+
"fixtures": {
|
| 312 |
+
"wall_room": {
|
| 313 |
+
"cls": "Wall"
|
| 314 |
+
},
|
| 315 |
+
"wall_backing_room": {
|
| 316 |
+
"cls": "Wall"
|
| 317 |
+
},
|
| 318 |
+
"wall_left_room": {
|
| 319 |
+
"cls": "Wall"
|
| 320 |
+
},
|
| 321 |
+
"wall_left_backing_room": {
|
| 322 |
+
"cls": "Wall"
|
| 323 |
+
},
|
| 324 |
+
"outlet_room": {
|
| 325 |
+
"cls": "WallAccessory"
|
| 326 |
+
},
|
| 327 |
+
"outlet_2_room": {
|
| 328 |
+
"cls": "WallAccessory"
|
| 329 |
+
},
|
| 330 |
+
"light_switch_room": {
|
| 331 |
+
"cls": "WallAccessory"
|
| 332 |
+
},
|
| 333 |
+
"light_switch_2_room": {
|
| 334 |
+
"cls": "WallAccessory"
|
| 335 |
+
},
|
| 336 |
+
"window_group_room": {
|
| 337 |
+
"cls": "Window"
|
| 338 |
+
},
|
| 339 |
+
"floor_room": {
|
| 340 |
+
"cls": "Floor"
|
| 341 |
+
},
|
| 342 |
+
"floor_backing_room": {
|
| 343 |
+
"cls": "Floor"
|
| 344 |
+
},
|
| 345 |
+
"stool_1_room": {
|
| 346 |
+
"cls": "Stool"
|
| 347 |
+
},
|
| 348 |
+
"stool_2_room": {
|
| 349 |
+
"cls": "Stool"
|
| 350 |
+
},
|
| 351 |
+
"stool_3_room": {
|
| 352 |
+
"cls": "Stool"
|
| 353 |
+
},
|
| 354 |
+
"counter_corner_main_main_group": {
|
| 355 |
+
"cls": "Counter"
|
| 356 |
+
},
|
| 357 |
+
"counter_main_main_group": {
|
| 358 |
+
"cls": "Counter"
|
| 359 |
+
},
|
| 360 |
+
"stovetop_main_group": {
|
| 361 |
+
"cls": "Stovetop"
|
| 362 |
+
},
|
| 363 |
+
"counter_1_right_main_group": {
|
| 364 |
+
"cls": "Counter"
|
| 365 |
+
},
|
| 366 |
+
"fridge_main_group": {
|
| 367 |
+
"cls": "FridgeFrenchDoor"
|
| 368 |
+
},
|
| 369 |
+
"fridge_housing_main_group": {
|
| 370 |
+
"cls": "HousingCabinet"
|
| 371 |
+
},
|
| 372 |
+
"stack_1_main_group_base": {
|
| 373 |
+
"cls": "Box"
|
| 374 |
+
},
|
| 375 |
+
"stack_1_main_group_1": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"stack_1_main_group_2": {
|
| 379 |
+
"cls": "Drawer"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_main_group_3": {
|
| 382 |
+
"cls": "Drawer"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_main_group_4": {
|
| 385 |
+
"cls": "Drawer"
|
| 386 |
+
},
|
| 387 |
+
"stack_2_main_group_base": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_main_group_1": {
|
| 391 |
+
"cls": "HingeCabinet"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_main_group_2": {
|
| 394 |
+
"cls": "PanelCabinet"
|
| 395 |
+
},
|
| 396 |
+
"stack_3_main_group_base": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"stack_3_main_group_1": {
|
| 400 |
+
"cls": "HingeCabinet"
|
| 401 |
+
},
|
| 402 |
+
"stack_3_main_group_2": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_3_main_group_3": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"hood_main_group": {
|
| 409 |
+
"cls": "Hood"
|
| 410 |
+
},
|
| 411 |
+
"cab_main_main_group": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
+
"shelves_main_group": {
|
| 415 |
+
"cls": "OpenCabinet"
|
| 416 |
+
},
|
| 417 |
+
"fridge_cab_main_group": {
|
| 418 |
+
"cls": "HingeCabinet"
|
| 419 |
+
},
|
| 420 |
+
"paper_towel_main_group": {
|
| 421 |
+
"cls": "Accessory"
|
| 422 |
+
},
|
| 423 |
+
"knife_block_main_group": {
|
| 424 |
+
"cls": "Accessory"
|
| 425 |
+
},
|
| 426 |
+
"toaster_main_group": {
|
| 427 |
+
"cls": "Toaster"
|
| 428 |
+
},
|
| 429 |
+
"utensil_set_main_group": {
|
| 430 |
+
"cls": "Accessory"
|
| 431 |
+
},
|
| 432 |
+
"toaster_oven_main_group": {
|
| 433 |
+
"cls": "ToasterOven"
|
| 434 |
+
},
|
| 435 |
+
"jar_main_group": {
|
| 436 |
+
"cls": "Accessory"
|
| 437 |
+
},
|
| 438 |
+
"jar_2_main_group": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
},
|
| 441 |
+
"glass_cup_main_group": {
|
| 442 |
+
"cls": "Accessory"
|
| 443 |
+
},
|
| 444 |
+
"glass_cup_2_main_group": {
|
| 445 |
+
"cls": "Accessory"
|
| 446 |
+
},
|
| 447 |
+
"jar_main_group_auxiliary_main_group": {
|
| 448 |
+
"cls": "Accessory"
|
| 449 |
+
},
|
| 450 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 451 |
+
"cls": "Accessory"
|
| 452 |
+
},
|
| 453 |
+
"cab_1_left_group": {
|
| 454 |
+
"cls": "SingleCabinet"
|
| 455 |
+
},
|
| 456 |
+
"cab_2_left_group": {
|
| 457 |
+
"cls": "SingleCabinet"
|
| 458 |
+
},
|
| 459 |
+
"cab_corner_3_left_group": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"cab_corner_4_left_group": {
|
| 463 |
+
"cls": "Box"
|
| 464 |
+
},
|
| 465 |
+
"sink_left_group": {
|
| 466 |
+
"cls": "Sink"
|
| 467 |
+
},
|
| 468 |
+
"counter_1_left_left_group": {
|
| 469 |
+
"cls": "Counter"
|
| 470 |
+
},
|
| 471 |
+
"counter_corner_left_group": {
|
| 472 |
+
"cls": "Counter"
|
| 473 |
+
},
|
| 474 |
+
"bottom_left_group_base": {
|
| 475 |
+
"cls": "Box"
|
| 476 |
+
},
|
| 477 |
+
"bottom_left_group_1": {
|
| 478 |
+
"cls": "Drawer"
|
| 479 |
+
},
|
| 480 |
+
"bottom_left_group_2": {
|
| 481 |
+
"cls": "Drawer"
|
| 482 |
+
},
|
| 483 |
+
"oven_left_group": {
|
| 484 |
+
"cls": "Oven"
|
| 485 |
+
},
|
| 486 |
+
"oven_housing_left_group": {
|
| 487 |
+
"cls": "HousingCabinet"
|
| 488 |
+
},
|
| 489 |
+
"microwave_left_group": {
|
| 490 |
+
"cls": "Microwave"
|
| 491 |
+
},
|
| 492 |
+
"micro_housing_left_group": {
|
| 493 |
+
"cls": "HousingCabinet"
|
| 494 |
+
},
|
| 495 |
+
"top_left_group": {
|
| 496 |
+
"cls": "HingeCabinet"
|
| 497 |
+
},
|
| 498 |
+
"stack_1_left_group": {
|
| 499 |
+
"cls": "SingleCabinet"
|
| 500 |
+
},
|
| 501 |
+
"dishwasher_left_group": {
|
| 502 |
+
"cls": "Dishwasher"
|
| 503 |
+
},
|
| 504 |
+
"stack_2_left_group_base": {
|
| 505 |
+
"cls": "Box"
|
| 506 |
+
},
|
| 507 |
+
"stack_2_left_group_1": {
|
| 508 |
+
"cls": "HingeCabinet"
|
| 509 |
+
},
|
| 510 |
+
"stack_2_left_group_2": {
|
| 511 |
+
"cls": "PanelCabinet"
|
| 512 |
+
},
|
| 513 |
+
"stack_3_left_group_base": {
|
| 514 |
+
"cls": "Box"
|
| 515 |
+
},
|
| 516 |
+
"stack_3_left_group_1": {
|
| 517 |
+
"cls": "HingeCabinet"
|
| 518 |
+
},
|
| 519 |
+
"stack_3_left_group_2": {
|
| 520 |
+
"cls": "Drawer"
|
| 521 |
+
},
|
| 522 |
+
"stack_3_left_group_3": {
|
| 523 |
+
"cls": "Drawer"
|
| 524 |
+
},
|
| 525 |
+
"coffee_machine_left_group": {
|
| 526 |
+
"cls": "CoffeeMachine"
|
| 527 |
+
},
|
| 528 |
+
"soap_dispenser_left_group": {
|
| 529 |
+
"cls": "Accessory"
|
| 530 |
+
},
|
| 531 |
+
"tiered_basket_left_group": {
|
| 532 |
+
"cls": "Accessory"
|
| 533 |
+
},
|
| 534 |
+
"island_island_group": {
|
| 535 |
+
"cls": "Counter"
|
| 536 |
+
},
|
| 537 |
+
"plant_island_group": {
|
| 538 |
+
"cls": "Accessory"
|
| 539 |
+
},
|
| 540 |
+
"fruit_bowl_island_group": {
|
| 541 |
+
"cls": "Accessory"
|
| 542 |
+
},
|
| 543 |
+
"salt_shaker_island_group": {
|
| 544 |
+
"cls": "Accessory"
|
| 545 |
+
},
|
| 546 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 547 |
+
"cls": "Accessory"
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"gen_textures": {},
|
| 551 |
+
"lang": "Pick the chicken drumstick and carrot from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 552 |
+
"fixture_refs": {
|
| 553 |
+
"stool1": "stool_1_room",
|
| 554 |
+
"stool2": "stool_2_room",
|
| 555 |
+
"dining_counter": "island_island_group",
|
| 556 |
+
"fridge": "fridge_main_group"
|
| 557 |
+
},
|
| 558 |
+
"cam_configs": {
|
| 559 |
+
"robot0_agentview_center": {
|
| 560 |
+
"pos": [
|
| 561 |
+
-0.6,
|
| 562 |
+
0.0,
|
| 563 |
+
1.15
|
| 564 |
+
],
|
| 565 |
+
"quat": [
|
| 566 |
+
0.636945903301239,
|
| 567 |
+
0.3325185477733612,
|
| 568 |
+
-0.3199238181114197,
|
| 569 |
+
-0.6175596117973328
|
| 570 |
+
],
|
| 571 |
+
"parent_body": "mobilebase0_support"
|
| 572 |
+
},
|
| 573 |
+
"robot0_agentview_left": {
|
| 574 |
+
"pos": [
|
| 575 |
+
-0.5,
|
| 576 |
+
0.35,
|
| 577 |
+
1.05
|
| 578 |
+
],
|
| 579 |
+
"quat": [
|
| 580 |
+
0.55623853,
|
| 581 |
+
0.29935253,
|
| 582 |
+
-0.37678665,
|
| 583 |
+
-0.6775092
|
| 584 |
+
],
|
| 585 |
+
"camera_attribs": {
|
| 586 |
+
"fovy": "60"
|
| 587 |
+
},
|
| 588 |
+
"parent_body": "mobilebase0_support"
|
| 589 |
+
},
|
| 590 |
+
"robot0_agentview_right": {
|
| 591 |
+
"pos": [
|
| 592 |
+
-0.5,
|
| 593 |
+
-0.35,
|
| 594 |
+
1.05
|
| 595 |
+
],
|
| 596 |
+
"quat": [
|
| 597 |
+
0.6775091886520386,
|
| 598 |
+
0.3767866790294647,
|
| 599 |
+
-0.2993525564670563,
|
| 600 |
+
-0.55623859167099
|
| 601 |
+
],
|
| 602 |
+
"camera_attribs": {
|
| 603 |
+
"fovy": "60"
|
| 604 |
+
},
|
| 605 |
+
"parent_body": "mobilebase0_support"
|
| 606 |
+
},
|
| 607 |
+
"robot0_frontview": {
|
| 608 |
+
"pos": [
|
| 609 |
+
-0.5,
|
| 610 |
+
0,
|
| 611 |
+
0.95
|
| 612 |
+
],
|
| 613 |
+
"quat": [
|
| 614 |
+
0.6088936924934387,
|
| 615 |
+
0.3814677894115448,
|
| 616 |
+
-0.3673907518386841,
|
| 617 |
+
-0.5905545353889465
|
| 618 |
+
],
|
| 619 |
+
"camera_attribs": {
|
| 620 |
+
"fovy": "60"
|
| 621 |
+
},
|
| 622 |
+
"parent_body": "mobilebase0_support"
|
| 623 |
+
},
|
| 624 |
+
"robot0_eye_in_hand": {
|
| 625 |
+
"pos": [
|
| 626 |
+
0.05,
|
| 627 |
+
0,
|
| 628 |
+
0
|
| 629 |
+
],
|
| 630 |
+
"quat": [
|
| 631 |
+
0,
|
| 632 |
+
0.707107,
|
| 633 |
+
0.707107,
|
| 634 |
+
0
|
| 635 |
+
],
|
| 636 |
+
"parent_body": "robot0_right_hand"
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"init_robot_base_pos": [
|
| 640 |
+
4.054309689861253,
|
| 641 |
+
-3.0703716258216738,
|
| 642 |
+
0.0
|
| 643 |
+
],
|
| 644 |
+
"init_robot_base_ori": [
|
| 645 |
+
0.0,
|
| 646 |
+
0.0,
|
| 647 |
+
3.1415889803846895
|
| 648 |
+
]
|
| 649 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000143/ep_meta.json
ADDED
|
@@ -0,0 +1,734 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 9,
|
| 3 |
+
"style_id": 9,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_front_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.247940875935,
|
| 14 |
+
0.24539034402000004,
|
| 15 |
+
0.01667049282
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.2500741284517756,
|
| 47 |
+
0.65
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6499629357741121,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "counter_1_front_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.244743326685,
|
| 98 |
+
0.24474403597500002,
|
| 99 |
+
0.023217144615000004
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.549925877128271,
|
| 131 |
+
0.65
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-3.7061435864460535e-05,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"bell_pepper",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"vegetable"
|
| 167 |
+
],
|
| 168 |
+
"cat": "bell_pepper",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml"
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"name": "bowl",
|
| 175 |
+
"obj_groups": "bowl",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"placement": {
|
| 178 |
+
"fixture": "counter_1_front_group",
|
| 179 |
+
"sample_region_kwargs": {
|
| 180 |
+
"ref": "stool_2_room",
|
| 181 |
+
"min_size": [
|
| 182 |
+
0.22999947099999987,
|
| 183 |
+
0.22999348179999984,
|
| 184 |
+
0.06689473639999997
|
| 185 |
+
]
|
| 186 |
+
},
|
| 187 |
+
"size": [
|
| 188 |
+
1.0,
|
| 189 |
+
0.4
|
| 190 |
+
],
|
| 191 |
+
"pos": [
|
| 192 |
+
"ref",
|
| 193 |
+
"ref"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"type": "object",
|
| 197 |
+
"info": {
|
| 198 |
+
"groups_containing_sampled_obj": [
|
| 199 |
+
"all",
|
| 200 |
+
"bowl",
|
| 201 |
+
"receptacle",
|
| 202 |
+
"stackable",
|
| 203 |
+
"group1",
|
| 204 |
+
"container_set2"
|
| 205 |
+
],
|
| 206 |
+
"groups": [
|
| 207 |
+
"bowl"
|
| 208 |
+
],
|
| 209 |
+
"cat": "bowl",
|
| 210 |
+
"split": "test",
|
| 211 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
|
| 212 |
+
},
|
| 213 |
+
"reset_region": {
|
| 214 |
+
"size": [
|
| 215 |
+
2.549925877128271,
|
| 216 |
+
0.65
|
| 217 |
+
],
|
| 218 |
+
"offset": [
|
| 219 |
+
-3.7061435864460535e-05,
|
| 220 |
+
0.0,
|
| 221 |
+
0.46
|
| 222 |
+
],
|
| 223 |
+
"name": "geom_0"
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "distr1",
|
| 228 |
+
"fridgable": true,
|
| 229 |
+
"placement": {
|
| 230 |
+
"fixture": "fridge_right_group",
|
| 231 |
+
"size": [
|
| 232 |
+
0.3,
|
| 233 |
+
0.3
|
| 234 |
+
],
|
| 235 |
+
"pos": [
|
| 236 |
+
-0.3,
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"type": "object",
|
| 241 |
+
"info": {
|
| 242 |
+
"groups_containing_sampled_obj": [
|
| 243 |
+
"all",
|
| 244 |
+
"canned_food",
|
| 245 |
+
"packaged_food"
|
| 246 |
+
],
|
| 247 |
+
"groups": [
|
| 248 |
+
"all"
|
| 249 |
+
],
|
| 250 |
+
"cat": "canned_food",
|
| 251 |
+
"split": "test",
|
| 252 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_9/model.xml"
|
| 253 |
+
},
|
| 254 |
+
"reset_region": {
|
| 255 |
+
"offset": [
|
| 256 |
+
0.17161175935390083,
|
| 257 |
+
-0.002463421028568155,
|
| 258 |
+
-0.12892606814174665
|
| 259 |
+
],
|
| 260 |
+
"size": [
|
| 261 |
+
0.3777878236752896,
|
| 262 |
+
0.4259307934615755
|
| 263 |
+
],
|
| 264 |
+
"name": "fridge_shelf0"
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"name": "distr2",
|
| 269 |
+
"fridgable": true,
|
| 270 |
+
"placement": {
|
| 271 |
+
"fixture": "fridge_right_group",
|
| 272 |
+
"size": [
|
| 273 |
+
0.3,
|
| 274 |
+
0.3
|
| 275 |
+
],
|
| 276 |
+
"pos": [
|
| 277 |
+
0.3,
|
| 278 |
+
1.0
|
| 279 |
+
]
|
| 280 |
+
},
|
| 281 |
+
"type": "object",
|
| 282 |
+
"info": {
|
| 283 |
+
"groups_containing_sampled_obj": [
|
| 284 |
+
"all",
|
| 285 |
+
"corn",
|
| 286 |
+
"vegetable",
|
| 287 |
+
"food",
|
| 288 |
+
"in_container",
|
| 289 |
+
"oven_ready"
|
| 290 |
+
],
|
| 291 |
+
"groups": [
|
| 292 |
+
"all"
|
| 293 |
+
],
|
| 294 |
+
"cat": "corn",
|
| 295 |
+
"split": "test",
|
| 296 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
|
| 297 |
+
},
|
| 298 |
+
"reset_region": {
|
| 299 |
+
"offset": [
|
| 300 |
+
0.17012238254205664,
|
| 301 |
+
0.01285438192129941,
|
| 302 |
+
0.5311948742500949
|
| 303 |
+
],
|
| 304 |
+
"size": [
|
| 305 |
+
0.37549296241974783,
|
| 306 |
+
0.3946066862490093
|
| 307 |
+
],
|
| 308 |
+
"name": "fridge_shelf2"
|
| 309 |
+
}
|
| 310 |
+
}
|
| 311 |
+
],
|
| 312 |
+
"fixtures": {
|
| 313 |
+
"wall_room": {
|
| 314 |
+
"cls": "Wall"
|
| 315 |
+
},
|
| 316 |
+
"wall_backing_room": {
|
| 317 |
+
"cls": "Wall"
|
| 318 |
+
},
|
| 319 |
+
"wall_left_room": {
|
| 320 |
+
"cls": "Wall"
|
| 321 |
+
},
|
| 322 |
+
"wall_left_backing_room": {
|
| 323 |
+
"cls": "Wall"
|
| 324 |
+
},
|
| 325 |
+
"wall_right_room": {
|
| 326 |
+
"cls": "Wall"
|
| 327 |
+
},
|
| 328 |
+
"wall_right_backing_room": {
|
| 329 |
+
"cls": "Wall"
|
| 330 |
+
},
|
| 331 |
+
"outlet_room": {
|
| 332 |
+
"cls": "WallAccessory"
|
| 333 |
+
},
|
| 334 |
+
"utensil_rack_room": {
|
| 335 |
+
"cls": "WallAccessory"
|
| 336 |
+
},
|
| 337 |
+
"light_switch_room": {
|
| 338 |
+
"cls": "WallAccessory"
|
| 339 |
+
},
|
| 340 |
+
"light_switch_2_room": {
|
| 341 |
+
"cls": "WallAccessory"
|
| 342 |
+
},
|
| 343 |
+
"outlet_2_room": {
|
| 344 |
+
"cls": "WallAccessory"
|
| 345 |
+
},
|
| 346 |
+
"outlet_3_room": {
|
| 347 |
+
"cls": "WallAccessory"
|
| 348 |
+
},
|
| 349 |
+
"window_group_room": {
|
| 350 |
+
"cls": "Window"
|
| 351 |
+
},
|
| 352 |
+
"floor_room": {
|
| 353 |
+
"cls": "Floor"
|
| 354 |
+
},
|
| 355 |
+
"floor_backing_room": {
|
| 356 |
+
"cls": "Floor"
|
| 357 |
+
},
|
| 358 |
+
"stool_1_room": {
|
| 359 |
+
"cls": "Stool"
|
| 360 |
+
},
|
| 361 |
+
"stool_2_room": {
|
| 362 |
+
"cls": "Stool"
|
| 363 |
+
},
|
| 364 |
+
"stool_3_room": {
|
| 365 |
+
"cls": "Stool"
|
| 366 |
+
},
|
| 367 |
+
"counter_corner_main_group": {
|
| 368 |
+
"cls": "Counter"
|
| 369 |
+
},
|
| 370 |
+
"counter_main_main_group": {
|
| 371 |
+
"cls": "Counter"
|
| 372 |
+
},
|
| 373 |
+
"stovetop_main_group": {
|
| 374 |
+
"cls": "Stovetop"
|
| 375 |
+
},
|
| 376 |
+
"counter_1_main_group": {
|
| 377 |
+
"cls": "Counter"
|
| 378 |
+
},
|
| 379 |
+
"counter_corner_2_main_group": {
|
| 380 |
+
"cls": "Counter"
|
| 381 |
+
},
|
| 382 |
+
"cab_corner_main_group": {
|
| 383 |
+
"cls": "Box"
|
| 384 |
+
},
|
| 385 |
+
"cab_corner_2_main_group": {
|
| 386 |
+
"cls": "Box"
|
| 387 |
+
},
|
| 388 |
+
"cab_1_main_group": {
|
| 389 |
+
"cls": "HingeCabinet"
|
| 390 |
+
},
|
| 391 |
+
"cab_main_main_group": {
|
| 392 |
+
"cls": "HingeCabinet"
|
| 393 |
+
},
|
| 394 |
+
"cab_2_main_group": {
|
| 395 |
+
"cls": "SingleCabinet"
|
| 396 |
+
},
|
| 397 |
+
"shelves_1_main_group": {
|
| 398 |
+
"cls": "OpenCabinet"
|
| 399 |
+
},
|
| 400 |
+
"hood_main_group": {
|
| 401 |
+
"cls": "Hood"
|
| 402 |
+
},
|
| 403 |
+
"shelves_2_main_group": {
|
| 404 |
+
"cls": "OpenCabinet"
|
| 405 |
+
},
|
| 406 |
+
"stack_1_main_group_base": {
|
| 407 |
+
"cls": "Box"
|
| 408 |
+
},
|
| 409 |
+
"stack_1_main_group_1": {
|
| 410 |
+
"cls": "Drawer"
|
| 411 |
+
},
|
| 412 |
+
"stack_1_main_group_2": {
|
| 413 |
+
"cls": "Drawer"
|
| 414 |
+
},
|
| 415 |
+
"stack_1_main_group_3": {
|
| 416 |
+
"cls": "Drawer"
|
| 417 |
+
},
|
| 418 |
+
"stack_1_main_group_4": {
|
| 419 |
+
"cls": "Drawer"
|
| 420 |
+
},
|
| 421 |
+
"stack_2_main_group_base": {
|
| 422 |
+
"cls": "Box"
|
| 423 |
+
},
|
| 424 |
+
"stack_2_main_group_1": {
|
| 425 |
+
"cls": "HingeCabinet"
|
| 426 |
+
},
|
| 427 |
+
"stack_2_main_group_2": {
|
| 428 |
+
"cls": "Drawer"
|
| 429 |
+
},
|
| 430 |
+
"stack_2_main_group_3": {
|
| 431 |
+
"cls": "Drawer"
|
| 432 |
+
},
|
| 433 |
+
"stack_3_main_group_base": {
|
| 434 |
+
"cls": "Box"
|
| 435 |
+
},
|
| 436 |
+
"stack_3_main_group_1": {
|
| 437 |
+
"cls": "HingeCabinet"
|
| 438 |
+
},
|
| 439 |
+
"stack_3_main_group_2": {
|
| 440 |
+
"cls": "Drawer"
|
| 441 |
+
},
|
| 442 |
+
"stack_3_main_group_3": {
|
| 443 |
+
"cls": "Drawer"
|
| 444 |
+
},
|
| 445 |
+
"stack_4_main_group_base": {
|
| 446 |
+
"cls": "Box"
|
| 447 |
+
},
|
| 448 |
+
"stack_4_main_group_1": {
|
| 449 |
+
"cls": "HingeCabinet"
|
| 450 |
+
},
|
| 451 |
+
"stack_5_main_group_base": {
|
| 452 |
+
"cls": "Box"
|
| 453 |
+
},
|
| 454 |
+
"stack_5_main_group_1": {
|
| 455 |
+
"cls": "SingleCabinet"
|
| 456 |
+
},
|
| 457 |
+
"stack_5_main_group_2": {
|
| 458 |
+
"cls": "Drawer"
|
| 459 |
+
},
|
| 460 |
+
"coffee_machine_main_group": {
|
| 461 |
+
"cls": "CoffeeMachine"
|
| 462 |
+
},
|
| 463 |
+
"paper_towel_main_group": {
|
| 464 |
+
"cls": "Accessory"
|
| 465 |
+
},
|
| 466 |
+
"toaster_main_group": {
|
| 467 |
+
"cls": "Toaster"
|
| 468 |
+
},
|
| 469 |
+
"toaster_oven_main_group": {
|
| 470 |
+
"cls": "ToasterOven"
|
| 471 |
+
},
|
| 472 |
+
"utensil_set_main_group": {
|
| 473 |
+
"cls": "Accessory"
|
| 474 |
+
},
|
| 475 |
+
"oil_bottle_main_group": {
|
| 476 |
+
"cls": "Accessory"
|
| 477 |
+
},
|
| 478 |
+
"knife_block_main_group": {
|
| 479 |
+
"cls": "Accessory"
|
| 480 |
+
},
|
| 481 |
+
"jar_main_group": {
|
| 482 |
+
"cls": "Accessory"
|
| 483 |
+
},
|
| 484 |
+
"cinnamon_main_group": {
|
| 485 |
+
"cls": "Accessory"
|
| 486 |
+
},
|
| 487 |
+
"turmeric_main_group": {
|
| 488 |
+
"cls": "Accessory"
|
| 489 |
+
},
|
| 490 |
+
"paprika_main_group": {
|
| 491 |
+
"cls": "Accessory"
|
| 492 |
+
},
|
| 493 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 494 |
+
"cls": "Accessory"
|
| 495 |
+
},
|
| 496 |
+
"jar_main_group_auxiliary_main_group": {
|
| 497 |
+
"cls": "Accessory"
|
| 498 |
+
},
|
| 499 |
+
"counter_1_front_group": {
|
| 500 |
+
"cls": "Counter"
|
| 501 |
+
},
|
| 502 |
+
"counter_corner_front_group": {
|
| 503 |
+
"cls": "Counter"
|
| 504 |
+
},
|
| 505 |
+
"salt_shaker_front_group": {
|
| 506 |
+
"cls": "Accessory"
|
| 507 |
+
},
|
| 508 |
+
"salt_shaker_front_group_auxiliary_front_group": {
|
| 509 |
+
"cls": "Accessory"
|
| 510 |
+
},
|
| 511 |
+
"counter_corner_left_group": {
|
| 512 |
+
"cls": "Counter"
|
| 513 |
+
},
|
| 514 |
+
"sink_left_group": {
|
| 515 |
+
"cls": "Sink"
|
| 516 |
+
},
|
| 517 |
+
"counter_1_left_group": {
|
| 518 |
+
"cls": "Counter"
|
| 519 |
+
},
|
| 520 |
+
"counter_corner_right_left_group": {
|
| 521 |
+
"cls": "Counter"
|
| 522 |
+
},
|
| 523 |
+
"stack_1_left_group_base": {
|
| 524 |
+
"cls": "Box"
|
| 525 |
+
},
|
| 526 |
+
"stack_1_left_group_1": {
|
| 527 |
+
"cls": "HingeCabinet"
|
| 528 |
+
},
|
| 529 |
+
"stack_1_left_group_2": {
|
| 530 |
+
"cls": "Drawer"
|
| 531 |
+
},
|
| 532 |
+
"stack_1_left_group_3": {
|
| 533 |
+
"cls": "Drawer"
|
| 534 |
+
},
|
| 535 |
+
"stack_2_left_group_base": {
|
| 536 |
+
"cls": "Box"
|
| 537 |
+
},
|
| 538 |
+
"stack_2_left_group_1": {
|
| 539 |
+
"cls": "HingeCabinet"
|
| 540 |
+
},
|
| 541 |
+
"dishwasher_left_group": {
|
| 542 |
+
"cls": "Dishwasher"
|
| 543 |
+
},
|
| 544 |
+
"stack_3_left_group_base": {
|
| 545 |
+
"cls": "Box"
|
| 546 |
+
},
|
| 547 |
+
"stack_3_left_group_1": {
|
| 548 |
+
"cls": "SingleCabinet"
|
| 549 |
+
},
|
| 550 |
+
"cab_1_left_group": {
|
| 551 |
+
"cls": "HingeCabinet"
|
| 552 |
+
},
|
| 553 |
+
"cab_2_left_group": {
|
| 554 |
+
"cls": "SingleCabinet"
|
| 555 |
+
},
|
| 556 |
+
"plant_left_group": {
|
| 557 |
+
"cls": "Accessory"
|
| 558 |
+
},
|
| 559 |
+
"soap_dispenser_left_group": {
|
| 560 |
+
"cls": "Accessory"
|
| 561 |
+
},
|
| 562 |
+
"fruit_bowl_left_group": {
|
| 563 |
+
"cls": "Accessory"
|
| 564 |
+
},
|
| 565 |
+
"stack_left_right_group_base": {
|
| 566 |
+
"cls": "Box"
|
| 567 |
+
},
|
| 568 |
+
"stack_left_right_group_1": {
|
| 569 |
+
"cls": "SingleCabinet"
|
| 570 |
+
},
|
| 571 |
+
"stack_left_right_group_2": {
|
| 572 |
+
"cls": "SingleCabinet"
|
| 573 |
+
},
|
| 574 |
+
"fridge_right_group": {
|
| 575 |
+
"cls": "FridgeSideBySide"
|
| 576 |
+
},
|
| 577 |
+
"fridge_housing_right_group": {
|
| 578 |
+
"cls": "HousingCabinet"
|
| 579 |
+
},
|
| 580 |
+
"fridge_top_right_group": {
|
| 581 |
+
"cls": "HingeCabinet"
|
| 582 |
+
},
|
| 583 |
+
"stack_right_right_group_base": {
|
| 584 |
+
"cls": "Box"
|
| 585 |
+
},
|
| 586 |
+
"stack_right_right_group_1": {
|
| 587 |
+
"cls": "SingleCabinet"
|
| 588 |
+
},
|
| 589 |
+
"stack_right_right_group_2": {
|
| 590 |
+
"cls": "SingleCabinet"
|
| 591 |
+
},
|
| 592 |
+
"cab_top_corner_right_group": {
|
| 593 |
+
"cls": "Box"
|
| 594 |
+
},
|
| 595 |
+
"bottom_corner_right_group": {
|
| 596 |
+
"cls": "Box"
|
| 597 |
+
},
|
| 598 |
+
"bottom_right_group_base": {
|
| 599 |
+
"cls": "Box"
|
| 600 |
+
},
|
| 601 |
+
"bottom_right_group_1": {
|
| 602 |
+
"cls": "Drawer"
|
| 603 |
+
},
|
| 604 |
+
"bottom_right_group_2": {
|
| 605 |
+
"cls": "Drawer"
|
| 606 |
+
},
|
| 607 |
+
"oven_right_group": {
|
| 608 |
+
"cls": "Oven"
|
| 609 |
+
},
|
| 610 |
+
"oven_housing_right_group": {
|
| 611 |
+
"cls": "HousingCabinet"
|
| 612 |
+
},
|
| 613 |
+
"microwave_right_group": {
|
| 614 |
+
"cls": "Microwave"
|
| 615 |
+
},
|
| 616 |
+
"micro_housing_right_group": {
|
| 617 |
+
"cls": "HousingCabinet"
|
| 618 |
+
},
|
| 619 |
+
"top_right_group": {
|
| 620 |
+
"cls": "HingeCabinet"
|
| 621 |
+
},
|
| 622 |
+
"side_bottom_right_group_base": {
|
| 623 |
+
"cls": "Box"
|
| 624 |
+
},
|
| 625 |
+
"side_bottom_right_group_1": {
|
| 626 |
+
"cls": "Drawer"
|
| 627 |
+
},
|
| 628 |
+
"side_bottom_right_group_2": {
|
| 629 |
+
"cls": "Drawer"
|
| 630 |
+
},
|
| 631 |
+
"side_bottom_right_group_3": {
|
| 632 |
+
"cls": "HingeCabinet"
|
| 633 |
+
}
|
| 634 |
+
},
|
| 635 |
+
"gen_textures": {},
|
| 636 |
+
"lang": "Pick the chicken drumstick and bell pepper from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 637 |
+
"fixture_refs": {
|
| 638 |
+
"stool1": "stool_1_room",
|
| 639 |
+
"stool2": "stool_2_room",
|
| 640 |
+
"dining_counter": "counter_1_front_group",
|
| 641 |
+
"fridge": "fridge_right_group"
|
| 642 |
+
},
|
| 643 |
+
"cam_configs": {
|
| 644 |
+
"robot0_agentview_center": {
|
| 645 |
+
"pos": [
|
| 646 |
+
-0.6,
|
| 647 |
+
0.0,
|
| 648 |
+
1.15
|
| 649 |
+
],
|
| 650 |
+
"quat": [
|
| 651 |
+
0.636945903301239,
|
| 652 |
+
0.3325185477733612,
|
| 653 |
+
-0.3199238181114197,
|
| 654 |
+
-0.6175596117973328
|
| 655 |
+
],
|
| 656 |
+
"parent_body": "mobilebase0_support"
|
| 657 |
+
},
|
| 658 |
+
"robot0_agentview_left": {
|
| 659 |
+
"pos": [
|
| 660 |
+
-0.5,
|
| 661 |
+
0.35,
|
| 662 |
+
1.05
|
| 663 |
+
],
|
| 664 |
+
"quat": [
|
| 665 |
+
0.55623853,
|
| 666 |
+
0.29935253,
|
| 667 |
+
-0.37678665,
|
| 668 |
+
-0.6775092
|
| 669 |
+
],
|
| 670 |
+
"camera_attribs": {
|
| 671 |
+
"fovy": "60"
|
| 672 |
+
},
|
| 673 |
+
"parent_body": "mobilebase0_support"
|
| 674 |
+
},
|
| 675 |
+
"robot0_agentview_right": {
|
| 676 |
+
"pos": [
|
| 677 |
+
-0.5,
|
| 678 |
+
-0.35,
|
| 679 |
+
1.05
|
| 680 |
+
],
|
| 681 |
+
"quat": [
|
| 682 |
+
0.6775091886520386,
|
| 683 |
+
0.3767866790294647,
|
| 684 |
+
-0.2993525564670563,
|
| 685 |
+
-0.55623859167099
|
| 686 |
+
],
|
| 687 |
+
"camera_attribs": {
|
| 688 |
+
"fovy": "60"
|
| 689 |
+
},
|
| 690 |
+
"parent_body": "mobilebase0_support"
|
| 691 |
+
},
|
| 692 |
+
"robot0_frontview": {
|
| 693 |
+
"pos": [
|
| 694 |
+
-0.5,
|
| 695 |
+
0,
|
| 696 |
+
0.95
|
| 697 |
+
],
|
| 698 |
+
"quat": [
|
| 699 |
+
0.6088936924934387,
|
| 700 |
+
0.3814677894115448,
|
| 701 |
+
-0.3673907518386841,
|
| 702 |
+
-0.5905545353889465
|
| 703 |
+
],
|
| 704 |
+
"camera_attribs": {
|
| 705 |
+
"fovy": "60"
|
| 706 |
+
},
|
| 707 |
+
"parent_body": "mobilebase0_support"
|
| 708 |
+
},
|
| 709 |
+
"robot0_eye_in_hand": {
|
| 710 |
+
"pos": [
|
| 711 |
+
0.05,
|
| 712 |
+
0,
|
| 713 |
+
0
|
| 714 |
+
],
|
| 715 |
+
"quat": [
|
| 716 |
+
0,
|
| 717 |
+
0.707107,
|
| 718 |
+
0.707107,
|
| 719 |
+
0
|
| 720 |
+
],
|
| 721 |
+
"parent_body": "robot0_right_hand"
|
| 722 |
+
}
|
| 723 |
+
},
|
| 724 |
+
"init_robot_base_pos": [
|
| 725 |
+
2.026106109537905,
|
| 726 |
+
-4.892315262674692,
|
| 727 |
+
0.0
|
| 728 |
+
],
|
| 729 |
+
"init_robot_base_ori": [
|
| 730 |
+
0.0,
|
| 731 |
+
0.0,
|
| 732 |
+
7.85388898038469
|
| 733 |
+
]
|
| 734 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000156/ep_meta.json
ADDED
|
@@ -0,0 +1,806 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.232802852625,
|
| 14 |
+
0.23286639915,
|
| 15 |
+
0.014759147025
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
0.4976678600342783,
|
| 47 |
+
1.55
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.649935139697214,
|
| 51 |
+
2.0816681711721685e-17,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.232802852625,
|
| 98 |
+
0.23286639915,
|
| 99 |
+
0.014759147025
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
0.8020727043346244,
|
| 131 |
+
0.9350000000000002
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-6.48575127626394e-05,
|
| 135 |
+
0.3075,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"bell_pepper",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"vegetable"
|
| 167 |
+
],
|
| 168 |
+
"cat": "bell_pepper",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml"
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"name": "bowl",
|
| 175 |
+
"obj_groups": "bowl",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"placement": {
|
| 178 |
+
"fixture": "island_island_group",
|
| 179 |
+
"sample_region_kwargs": {
|
| 180 |
+
"ref": "stool_2_room",
|
| 181 |
+
"min_size": [
|
| 182 |
+
0.2599940797999999,
|
| 183 |
+
0.2599929331999999,
|
| 184 |
+
0.08604590539999997
|
| 185 |
+
]
|
| 186 |
+
},
|
| 187 |
+
"size": [
|
| 188 |
+
1.0,
|
| 189 |
+
0.4
|
| 190 |
+
],
|
| 191 |
+
"pos": [
|
| 192 |
+
"ref",
|
| 193 |
+
"ref"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"type": "object",
|
| 197 |
+
"info": {
|
| 198 |
+
"groups_containing_sampled_obj": [
|
| 199 |
+
"all",
|
| 200 |
+
"bowl",
|
| 201 |
+
"stackable",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"group1",
|
| 204 |
+
"container_set2"
|
| 205 |
+
],
|
| 206 |
+
"groups": [
|
| 207 |
+
"bowl"
|
| 208 |
+
],
|
| 209 |
+
"cat": "bowl",
|
| 210 |
+
"split": "test",
|
| 211 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
|
| 212 |
+
},
|
| 213 |
+
"reset_region": {
|
| 214 |
+
"size": [
|
| 215 |
+
0.8020727043346244,
|
| 216 |
+
0.9350000000000002
|
| 217 |
+
],
|
| 218 |
+
"offset": [
|
| 219 |
+
-6.48575127626394e-05,
|
| 220 |
+
0.3075,
|
| 221 |
+
0.46
|
| 222 |
+
],
|
| 223 |
+
"name": "geom_0"
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "distr1",
|
| 228 |
+
"fridgable": true,
|
| 229 |
+
"placement": {
|
| 230 |
+
"fixture": "fridge_right_group",
|
| 231 |
+
"size": [
|
| 232 |
+
0.3,
|
| 233 |
+
0.3
|
| 234 |
+
],
|
| 235 |
+
"pos": [
|
| 236 |
+
-0.3,
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"type": "object",
|
| 241 |
+
"info": {
|
| 242 |
+
"groups_containing_sampled_obj": [
|
| 243 |
+
"all",
|
| 244 |
+
"condiment_bottle",
|
| 245 |
+
"condiment"
|
| 246 |
+
],
|
| 247 |
+
"groups": [
|
| 248 |
+
"all"
|
| 249 |
+
],
|
| 250 |
+
"cat": "condiment_bottle",
|
| 251 |
+
"split": "test",
|
| 252 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
|
| 253 |
+
},
|
| 254 |
+
"reset_region": {
|
| 255 |
+
"offset": [
|
| 256 |
+
0.17648921902301634,
|
| 257 |
+
0.09431713873401872,
|
| 258 |
+
0.1835105829355773
|
| 259 |
+
],
|
| 260 |
+
"size": [
|
| 261 |
+
0.4128378194384873,
|
| 262 |
+
0.5356103330552707
|
| 263 |
+
],
|
| 264 |
+
"name": "fridge_shelf1"
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"name": "distr2",
|
| 269 |
+
"fridgable": true,
|
| 270 |
+
"placement": {
|
| 271 |
+
"fixture": "fridge_right_group",
|
| 272 |
+
"size": [
|
| 273 |
+
0.3,
|
| 274 |
+
0.3
|
| 275 |
+
],
|
| 276 |
+
"pos": [
|
| 277 |
+
0.3,
|
| 278 |
+
1.0
|
| 279 |
+
]
|
| 280 |
+
},
|
| 281 |
+
"type": "object",
|
| 282 |
+
"info": {
|
| 283 |
+
"groups_containing_sampled_obj": [
|
| 284 |
+
"all",
|
| 285 |
+
"ketchup",
|
| 286 |
+
"condiment"
|
| 287 |
+
],
|
| 288 |
+
"groups": [
|
| 289 |
+
"all"
|
| 290 |
+
],
|
| 291 |
+
"cat": "ketchup",
|
| 292 |
+
"split": "test",
|
| 293 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_7/model.xml"
|
| 294 |
+
},
|
| 295 |
+
"reset_region": {
|
| 296 |
+
"offset": [
|
| 297 |
+
0.17648921902301634,
|
| 298 |
+
0.06578865892750749,
|
| 299 |
+
-0.18350830734475307
|
| 300 |
+
],
|
| 301 |
+
"size": [
|
| 302 |
+
0.4128378194384873,
|
| 303 |
+
0.5930299761881288
|
| 304 |
+
],
|
| 305 |
+
"name": "fridge_shelf0"
|
| 306 |
+
}
|
| 307 |
+
}
|
| 308 |
+
],
|
| 309 |
+
"fixtures": {
|
| 310 |
+
"wall_room": {
|
| 311 |
+
"cls": "Wall"
|
| 312 |
+
},
|
| 313 |
+
"wall_backing_room": {
|
| 314 |
+
"cls": "Wall"
|
| 315 |
+
},
|
| 316 |
+
"wall_left_room": {
|
| 317 |
+
"cls": "Wall"
|
| 318 |
+
},
|
| 319 |
+
"wall_left_backing_room": {
|
| 320 |
+
"cls": "Wall"
|
| 321 |
+
},
|
| 322 |
+
"wall_right_room": {
|
| 323 |
+
"cls": "Wall"
|
| 324 |
+
},
|
| 325 |
+
"wall_right_backing_room": {
|
| 326 |
+
"cls": "Wall"
|
| 327 |
+
},
|
| 328 |
+
"floor_room": {
|
| 329 |
+
"cls": "Floor"
|
| 330 |
+
},
|
| 331 |
+
"floor_backing_room": {
|
| 332 |
+
"cls": "Floor"
|
| 333 |
+
},
|
| 334 |
+
"utensil_rack_room": {
|
| 335 |
+
"cls": "WallAccessory"
|
| 336 |
+
},
|
| 337 |
+
"light_switch_room": {
|
| 338 |
+
"cls": "WallAccessory"
|
| 339 |
+
},
|
| 340 |
+
"light_switch_2_room": {
|
| 341 |
+
"cls": "WallAccessory"
|
| 342 |
+
},
|
| 343 |
+
"outlet_room": {
|
| 344 |
+
"cls": "WallAccessory"
|
| 345 |
+
},
|
| 346 |
+
"outlet_2_room": {
|
| 347 |
+
"cls": "WallAccessory"
|
| 348 |
+
},
|
| 349 |
+
"outlet_3_room": {
|
| 350 |
+
"cls": "WallAccessory"
|
| 351 |
+
},
|
| 352 |
+
"window_group_room": {
|
| 353 |
+
"cls": "Window"
|
| 354 |
+
},
|
| 355 |
+
"stool_1_room": {
|
| 356 |
+
"cls": "Stool"
|
| 357 |
+
},
|
| 358 |
+
"stool_2_room": {
|
| 359 |
+
"cls": "Stool"
|
| 360 |
+
},
|
| 361 |
+
"stool_3_room": {
|
| 362 |
+
"cls": "Stool"
|
| 363 |
+
},
|
| 364 |
+
"counter_corner_main_group": {
|
| 365 |
+
"cls": "Counter"
|
| 366 |
+
},
|
| 367 |
+
"counter_1_main_group": {
|
| 368 |
+
"cls": "Counter"
|
| 369 |
+
},
|
| 370 |
+
"stovetop_main_group": {
|
| 371 |
+
"cls": "Stovetop"
|
| 372 |
+
},
|
| 373 |
+
"counter_main_main_group": {
|
| 374 |
+
"cls": "Counter"
|
| 375 |
+
},
|
| 376 |
+
"counter_corner_2_main_group": {
|
| 377 |
+
"cls": "Counter"
|
| 378 |
+
},
|
| 379 |
+
"cab_corner_main_group": {
|
| 380 |
+
"cls": "Box"
|
| 381 |
+
},
|
| 382 |
+
"cab_corner_2_main_group": {
|
| 383 |
+
"cls": "Box"
|
| 384 |
+
},
|
| 385 |
+
"cab_1_main_group": {
|
| 386 |
+
"cls": "SingleCabinet"
|
| 387 |
+
},
|
| 388 |
+
"hood_main_group": {
|
| 389 |
+
"cls": "Hood"
|
| 390 |
+
},
|
| 391 |
+
"shelves_main_group": {
|
| 392 |
+
"cls": "OpenCabinet"
|
| 393 |
+
},
|
| 394 |
+
"cab_main_main_group": {
|
| 395 |
+
"cls": "SingleCabinet"
|
| 396 |
+
},
|
| 397 |
+
"cab_corner_3_main_group": {
|
| 398 |
+
"cls": "Box"
|
| 399 |
+
},
|
| 400 |
+
"cab_corner_4_main_group": {
|
| 401 |
+
"cls": "Box"
|
| 402 |
+
},
|
| 403 |
+
"stack_1_main_group_base": {
|
| 404 |
+
"cls": "Box"
|
| 405 |
+
},
|
| 406 |
+
"stack_1_main_group_1": {
|
| 407 |
+
"cls": "HingeCabinet"
|
| 408 |
+
},
|
| 409 |
+
"stack_1_main_group_2": {
|
| 410 |
+
"cls": "Drawer"
|
| 411 |
+
},
|
| 412 |
+
"stack_1_main_group_3": {
|
| 413 |
+
"cls": "Drawer"
|
| 414 |
+
},
|
| 415 |
+
"stack_2_main_group_base": {
|
| 416 |
+
"cls": "Box"
|
| 417 |
+
},
|
| 418 |
+
"stack_2_main_group_1": {
|
| 419 |
+
"cls": "HingeCabinet"
|
| 420 |
+
},
|
| 421 |
+
"stack_2_main_group_2": {
|
| 422 |
+
"cls": "Drawer"
|
| 423 |
+
},
|
| 424 |
+
"stack_2_main_group_3": {
|
| 425 |
+
"cls": "Drawer"
|
| 426 |
+
},
|
| 427 |
+
"stack_3_main_group_base": {
|
| 428 |
+
"cls": "Box"
|
| 429 |
+
},
|
| 430 |
+
"stack_3_main_group_1": {
|
| 431 |
+
"cls": "Drawer"
|
| 432 |
+
},
|
| 433 |
+
"stack_3_main_group_2": {
|
| 434 |
+
"cls": "Drawer"
|
| 435 |
+
},
|
| 436 |
+
"stack_3_main_group_3": {
|
| 437 |
+
"cls": "Drawer"
|
| 438 |
+
},
|
| 439 |
+
"stack_3_main_group_4": {
|
| 440 |
+
"cls": "Drawer"
|
| 441 |
+
},
|
| 442 |
+
"stack_4_main_group_base": {
|
| 443 |
+
"cls": "Box"
|
| 444 |
+
},
|
| 445 |
+
"stack_4_main_group_1": {
|
| 446 |
+
"cls": "HingeCabinet"
|
| 447 |
+
},
|
| 448 |
+
"stack_5_main_group_base": {
|
| 449 |
+
"cls": "Box"
|
| 450 |
+
},
|
| 451 |
+
"stack_5_main_group_1": {
|
| 452 |
+
"cls": "HingeCabinet"
|
| 453 |
+
},
|
| 454 |
+
"stack_5_main_group_2": {
|
| 455 |
+
"cls": "Drawer"
|
| 456 |
+
},
|
| 457 |
+
"stack_5_main_group_3": {
|
| 458 |
+
"cls": "Drawer"
|
| 459 |
+
},
|
| 460 |
+
"stack_6_main_group_base": {
|
| 461 |
+
"cls": "Box"
|
| 462 |
+
},
|
| 463 |
+
"stack_6_main_group_1": {
|
| 464 |
+
"cls": "SingleCabinet"
|
| 465 |
+
},
|
| 466 |
+
"stack_6_main_group_2": {
|
| 467 |
+
"cls": "Drawer"
|
| 468 |
+
},
|
| 469 |
+
"knife_block_main_group": {
|
| 470 |
+
"cls": "Accessory"
|
| 471 |
+
},
|
| 472 |
+
"paper_towel_main_group": {
|
| 473 |
+
"cls": "Accessory"
|
| 474 |
+
},
|
| 475 |
+
"utensil_set_main_group": {
|
| 476 |
+
"cls": "Accessory"
|
| 477 |
+
},
|
| 478 |
+
"oil_bottle_main_group": {
|
| 479 |
+
"cls": "Accessory"
|
| 480 |
+
},
|
| 481 |
+
"glass_cup_main_group": {
|
| 482 |
+
"cls": "Accessory"
|
| 483 |
+
},
|
| 484 |
+
"glass_cup_2_main_group": {
|
| 485 |
+
"cls": "Accessory"
|
| 486 |
+
},
|
| 487 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 488 |
+
"cls": "Accessory"
|
| 489 |
+
},
|
| 490 |
+
"sink_island_group": {
|
| 491 |
+
"cls": "Sink"
|
| 492 |
+
},
|
| 493 |
+
"island_island_group": {
|
| 494 |
+
"cls": "Counter"
|
| 495 |
+
},
|
| 496 |
+
"island_stack_1_island_group_base": {
|
| 497 |
+
"cls": "Box"
|
| 498 |
+
},
|
| 499 |
+
"island_stack_1_island_group_1": {
|
| 500 |
+
"cls": "HingeCabinet"
|
| 501 |
+
},
|
| 502 |
+
"island_stack_1_island_group_2": {
|
| 503 |
+
"cls": "PanelCabinet"
|
| 504 |
+
},
|
| 505 |
+
"dishwasher_island_group": {
|
| 506 |
+
"cls": "Dishwasher"
|
| 507 |
+
},
|
| 508 |
+
"island_panel_cab_right_island_group_base": {
|
| 509 |
+
"cls": "Box"
|
| 510 |
+
},
|
| 511 |
+
"island_panel_cab_right_island_group_1": {
|
| 512 |
+
"cls": "PanelCabinet"
|
| 513 |
+
},
|
| 514 |
+
"island_cab_right_island_group_base": {
|
| 515 |
+
"cls": "Box"
|
| 516 |
+
},
|
| 517 |
+
"island_cab_right_island_group_1": {
|
| 518 |
+
"cls": "Drawer"
|
| 519 |
+
},
|
| 520 |
+
"island_cab_right_island_group_2": {
|
| 521 |
+
"cls": "Drawer"
|
| 522 |
+
},
|
| 523 |
+
"island_cab_right_island_group_3": {
|
| 524 |
+
"cls": "Drawer"
|
| 525 |
+
},
|
| 526 |
+
"island_cab_right_island_group_4": {
|
| 527 |
+
"cls": "Drawer"
|
| 528 |
+
},
|
| 529 |
+
"island_panel_cab_left_island_group_base": {
|
| 530 |
+
"cls": "Box"
|
| 531 |
+
},
|
| 532 |
+
"island_panel_cab_left_island_group_1": {
|
| 533 |
+
"cls": "PanelCabinet"
|
| 534 |
+
},
|
| 535 |
+
"island_base_box_island_group": {
|
| 536 |
+
"cls": "Box"
|
| 537 |
+
},
|
| 538 |
+
"plant_island_group": {
|
| 539 |
+
"cls": "Accessory"
|
| 540 |
+
},
|
| 541 |
+
"soap_dispenser_island_group": {
|
| 542 |
+
"cls": "Accessory"
|
| 543 |
+
},
|
| 544 |
+
"fruit_bowl_island_group": {
|
| 545 |
+
"cls": "Accessory"
|
| 546 |
+
},
|
| 547 |
+
"salt_shaker_island_group": {
|
| 548 |
+
"cls": "Accessory"
|
| 549 |
+
},
|
| 550 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 551 |
+
"cls": "Accessory"
|
| 552 |
+
},
|
| 553 |
+
"counter_1_left_group": {
|
| 554 |
+
"cls": "Counter"
|
| 555 |
+
},
|
| 556 |
+
"counter_corner_left_group": {
|
| 557 |
+
"cls": "Counter"
|
| 558 |
+
},
|
| 559 |
+
"bottom_left_group_base": {
|
| 560 |
+
"cls": "Box"
|
| 561 |
+
},
|
| 562 |
+
"bottom_left_group_1": {
|
| 563 |
+
"cls": "Drawer"
|
| 564 |
+
},
|
| 565 |
+
"bottom_left_group_2": {
|
| 566 |
+
"cls": "Drawer"
|
| 567 |
+
},
|
| 568 |
+
"oven_left_group": {
|
| 569 |
+
"cls": "Oven"
|
| 570 |
+
},
|
| 571 |
+
"oven_housing_left_group": {
|
| 572 |
+
"cls": "HousingCabinet"
|
| 573 |
+
},
|
| 574 |
+
"microwave_left_group": {
|
| 575 |
+
"cls": "Microwave"
|
| 576 |
+
},
|
| 577 |
+
"micro_housing_left_group": {
|
| 578 |
+
"cls": "HousingCabinet"
|
| 579 |
+
},
|
| 580 |
+
"top_left_group": {
|
| 581 |
+
"cls": "HingeCabinet"
|
| 582 |
+
},
|
| 583 |
+
"stack_1_left_group_base": {
|
| 584 |
+
"cls": "Box"
|
| 585 |
+
},
|
| 586 |
+
"stack_1_left_group_1": {
|
| 587 |
+
"cls": "SingleCabinet"
|
| 588 |
+
},
|
| 589 |
+
"stack_1_left_group_2": {
|
| 590 |
+
"cls": "Drawer"
|
| 591 |
+
},
|
| 592 |
+
"stack_2_left_group_base": {
|
| 593 |
+
"cls": "Box"
|
| 594 |
+
},
|
| 595 |
+
"stack_2_left_group_1": {
|
| 596 |
+
"cls": "HingeCabinet"
|
| 597 |
+
},
|
| 598 |
+
"stack_2_left_group_2": {
|
| 599 |
+
"cls": "Drawer"
|
| 600 |
+
},
|
| 601 |
+
"stack_2_left_group_3": {
|
| 602 |
+
"cls": "Drawer"
|
| 603 |
+
},
|
| 604 |
+
"stack_3_left_group_base": {
|
| 605 |
+
"cls": "Box"
|
| 606 |
+
},
|
| 607 |
+
"stack_3_left_group_1": {
|
| 608 |
+
"cls": "Drawer"
|
| 609 |
+
},
|
| 610 |
+
"stack_3_left_group_2": {
|
| 611 |
+
"cls": "Drawer"
|
| 612 |
+
},
|
| 613 |
+
"stack_3_left_group_3": {
|
| 614 |
+
"cls": "Drawer"
|
| 615 |
+
},
|
| 616 |
+
"stack_3_left_group_4": {
|
| 617 |
+
"cls": "Drawer"
|
| 618 |
+
},
|
| 619 |
+
"shelves_left_group": {
|
| 620 |
+
"cls": "OpenCabinet"
|
| 621 |
+
},
|
| 622 |
+
"cab_2_left_group": {
|
| 623 |
+
"cls": "SingleCabinet"
|
| 624 |
+
},
|
| 625 |
+
"toaster_oven_left_group": {
|
| 626 |
+
"cls": "ToasterOven"
|
| 627 |
+
},
|
| 628 |
+
"paprika_left_group": {
|
| 629 |
+
"cls": "Accessory"
|
| 630 |
+
},
|
| 631 |
+
"cinnamon_left_group": {
|
| 632 |
+
"cls": "Accessory"
|
| 633 |
+
},
|
| 634 |
+
"turmeric_left_group": {
|
| 635 |
+
"cls": "Accessory"
|
| 636 |
+
},
|
| 637 |
+
"jar_left_group": {
|
| 638 |
+
"cls": "Accessory"
|
| 639 |
+
},
|
| 640 |
+
"jar_left_group_auxiliary_left_group": {
|
| 641 |
+
"cls": "Accessory"
|
| 642 |
+
},
|
| 643 |
+
"counter_1_right_group": {
|
| 644 |
+
"cls": "Counter"
|
| 645 |
+
},
|
| 646 |
+
"counter_corner_right_group": {
|
| 647 |
+
"cls": "Counter"
|
| 648 |
+
},
|
| 649 |
+
"fridge_right_group": {
|
| 650 |
+
"cls": "FridgeSideBySide"
|
| 651 |
+
},
|
| 652 |
+
"fridge_housing_right_group": {
|
| 653 |
+
"cls": "HousingCabinet"
|
| 654 |
+
},
|
| 655 |
+
"stack_1_right_group_base": {
|
| 656 |
+
"cls": "Box"
|
| 657 |
+
},
|
| 658 |
+
"stack_1_right_group_1": {
|
| 659 |
+
"cls": "HingeCabinet"
|
| 660 |
+
},
|
| 661 |
+
"stack_1_right_group_2": {
|
| 662 |
+
"cls": "Drawer"
|
| 663 |
+
},
|
| 664 |
+
"stack_1_right_group_3": {
|
| 665 |
+
"cls": "Drawer"
|
| 666 |
+
},
|
| 667 |
+
"stack_2_right_group_base": {
|
| 668 |
+
"cls": "Box"
|
| 669 |
+
},
|
| 670 |
+
"stack_2_right_group_1": {
|
| 671 |
+
"cls": "SingleCabinet"
|
| 672 |
+
},
|
| 673 |
+
"stack_2_right_group_2": {
|
| 674 |
+
"cls": "Drawer"
|
| 675 |
+
},
|
| 676 |
+
"stack_3_right_group_base": {
|
| 677 |
+
"cls": "Box"
|
| 678 |
+
},
|
| 679 |
+
"stack_3_right_group_1": {
|
| 680 |
+
"cls": "Drawer"
|
| 681 |
+
},
|
| 682 |
+
"stack_3_right_group_2": {
|
| 683 |
+
"cls": "Drawer"
|
| 684 |
+
},
|
| 685 |
+
"stack_3_right_group_3": {
|
| 686 |
+
"cls": "Drawer"
|
| 687 |
+
},
|
| 688 |
+
"stack_3_right_group_4": {
|
| 689 |
+
"cls": "Drawer"
|
| 690 |
+
},
|
| 691 |
+
"cab_1_right_group": {
|
| 692 |
+
"cls": "HingeCabinet"
|
| 693 |
+
},
|
| 694 |
+
"cab_2_right_group": {
|
| 695 |
+
"cls": "HingeCabinet"
|
| 696 |
+
},
|
| 697 |
+
"fridge_cab_right_group": {
|
| 698 |
+
"cls": "HingeCabinet"
|
| 699 |
+
},
|
| 700 |
+
"coffee_machine_right_group": {
|
| 701 |
+
"cls": "CoffeeMachine"
|
| 702 |
+
},
|
| 703 |
+
"toaster_right_group": {
|
| 704 |
+
"cls": "Toaster"
|
| 705 |
+
}
|
| 706 |
+
},
|
| 707 |
+
"gen_textures": {},
|
| 708 |
+
"lang": "Pick the chicken drumstick and bell pepper from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 709 |
+
"fixture_refs": {
|
| 710 |
+
"stool1": "stool_1_room",
|
| 711 |
+
"stool2": "stool_2_room",
|
| 712 |
+
"dining_counter": "island_island_group",
|
| 713 |
+
"fridge": "fridge_right_group"
|
| 714 |
+
},
|
| 715 |
+
"cam_configs": {
|
| 716 |
+
"robot0_agentview_center": {
|
| 717 |
+
"pos": [
|
| 718 |
+
-0.6,
|
| 719 |
+
0.0,
|
| 720 |
+
1.15
|
| 721 |
+
],
|
| 722 |
+
"quat": [
|
| 723 |
+
0.636945903301239,
|
| 724 |
+
0.3325185477733612,
|
| 725 |
+
-0.3199238181114197,
|
| 726 |
+
-0.6175596117973328
|
| 727 |
+
],
|
| 728 |
+
"parent_body": "mobilebase0_support"
|
| 729 |
+
},
|
| 730 |
+
"robot0_agentview_left": {
|
| 731 |
+
"pos": [
|
| 732 |
+
-0.5,
|
| 733 |
+
0.35,
|
| 734 |
+
1.05
|
| 735 |
+
],
|
| 736 |
+
"quat": [
|
| 737 |
+
0.55623853,
|
| 738 |
+
0.29935253,
|
| 739 |
+
-0.37678665,
|
| 740 |
+
-0.6775092
|
| 741 |
+
],
|
| 742 |
+
"camera_attribs": {
|
| 743 |
+
"fovy": "60"
|
| 744 |
+
},
|
| 745 |
+
"parent_body": "mobilebase0_support"
|
| 746 |
+
},
|
| 747 |
+
"robot0_agentview_right": {
|
| 748 |
+
"pos": [
|
| 749 |
+
-0.5,
|
| 750 |
+
-0.35,
|
| 751 |
+
1.05
|
| 752 |
+
],
|
| 753 |
+
"quat": [
|
| 754 |
+
0.6775091886520386,
|
| 755 |
+
0.3767866790294647,
|
| 756 |
+
-0.2993525564670563,
|
| 757 |
+
-0.55623859167099
|
| 758 |
+
],
|
| 759 |
+
"camera_attribs": {
|
| 760 |
+
"fovy": "60"
|
| 761 |
+
},
|
| 762 |
+
"parent_body": "mobilebase0_support"
|
| 763 |
+
},
|
| 764 |
+
"robot0_frontview": {
|
| 765 |
+
"pos": [
|
| 766 |
+
-0.5,
|
| 767 |
+
0,
|
| 768 |
+
0.95
|
| 769 |
+
],
|
| 770 |
+
"quat": [
|
| 771 |
+
0.6088936924934387,
|
| 772 |
+
0.3814677894115448,
|
| 773 |
+
-0.3673907518386841,
|
| 774 |
+
-0.5905545353889465
|
| 775 |
+
],
|
| 776 |
+
"camera_attribs": {
|
| 777 |
+
"fovy": "60"
|
| 778 |
+
},
|
| 779 |
+
"parent_body": "mobilebase0_support"
|
| 780 |
+
},
|
| 781 |
+
"robot0_eye_in_hand": {
|
| 782 |
+
"pos": [
|
| 783 |
+
0.05,
|
| 784 |
+
0,
|
| 785 |
+
0
|
| 786 |
+
],
|
| 787 |
+
"quat": [
|
| 788 |
+
0,
|
| 789 |
+
0.707107,
|
| 790 |
+
0.707107,
|
| 791 |
+
0
|
| 792 |
+
],
|
| 793 |
+
"parent_body": "robot0_right_hand"
|
| 794 |
+
}
|
| 795 |
+
},
|
| 796 |
+
"init_robot_base_pos": [
|
| 797 |
+
3.1825732950266437,
|
| 798 |
+
-3.8195082647536984,
|
| 799 |
+
0.0
|
| 800 |
+
],
|
| 801 |
+
"init_robot_base_ori": [
|
| 802 |
+
0.0,
|
| 803 |
+
0.0,
|
| 804 |
+
7.85388898038469
|
| 805 |
+
]
|
| 806 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000164/ep_meta.json
ADDED
|
@@ -0,0 +1,653 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.24568749157499997,
|
| 14 |
+
0.24474791709000002,
|
| 15 |
+
0.03850276869
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.24720248007000004,
|
| 98 |
+
0.24572606796000004,
|
| 99 |
+
0.012934327725
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"lime",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"vegetable"
|
| 167 |
+
],
|
| 168 |
+
"cat": "lime",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml"
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"name": "bowl",
|
| 175 |
+
"obj_groups": "bowl",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"placement": {
|
| 178 |
+
"fixture": "island_island_group",
|
| 179 |
+
"sample_region_kwargs": {
|
| 180 |
+
"ref": "stool_2_room",
|
| 181 |
+
"min_size": [
|
| 182 |
+
0.23981271599999987,
|
| 183 |
+
0.2399972111999999,
|
| 184 |
+
0.09829280159999995
|
| 185 |
+
]
|
| 186 |
+
},
|
| 187 |
+
"size": [
|
| 188 |
+
1.0,
|
| 189 |
+
0.4
|
| 190 |
+
],
|
| 191 |
+
"pos": [
|
| 192 |
+
"ref",
|
| 193 |
+
"ref"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"type": "object",
|
| 197 |
+
"info": {
|
| 198 |
+
"groups_containing_sampled_obj": [
|
| 199 |
+
"all",
|
| 200 |
+
"bowl",
|
| 201 |
+
"receptacle",
|
| 202 |
+
"stackable",
|
| 203 |
+
"group1",
|
| 204 |
+
"container_set2"
|
| 205 |
+
],
|
| 206 |
+
"groups": [
|
| 207 |
+
"bowl"
|
| 208 |
+
],
|
| 209 |
+
"cat": "bowl",
|
| 210 |
+
"split": "test",
|
| 211 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
|
| 212 |
+
},
|
| 213 |
+
"reset_region": {
|
| 214 |
+
"size": [
|
| 215 |
+
2.4399842052305356,
|
| 216 |
+
1.6
|
| 217 |
+
],
|
| 218 |
+
"offset": [
|
| 219 |
+
0.005007897384732285,
|
| 220 |
+
0.0,
|
| 221 |
+
0.46
|
| 222 |
+
],
|
| 223 |
+
"name": "geom_0"
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "distr1",
|
| 228 |
+
"fridgable": true,
|
| 229 |
+
"placement": {
|
| 230 |
+
"fixture": "fridge_main_group",
|
| 231 |
+
"size": [
|
| 232 |
+
0.3,
|
| 233 |
+
0.3
|
| 234 |
+
],
|
| 235 |
+
"pos": [
|
| 236 |
+
-0.3,
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"type": "object",
|
| 241 |
+
"info": {
|
| 242 |
+
"groups_containing_sampled_obj": [
|
| 243 |
+
"all",
|
| 244 |
+
"banana",
|
| 245 |
+
"fruit",
|
| 246 |
+
"food",
|
| 247 |
+
"in_container",
|
| 248 |
+
"food_set1",
|
| 249 |
+
"group1"
|
| 250 |
+
],
|
| 251 |
+
"groups": [
|
| 252 |
+
"all"
|
| 253 |
+
],
|
| 254 |
+
"cat": "banana",
|
| 255 |
+
"split": "test",
|
| 256 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_8/model.xml"
|
| 257 |
+
},
|
| 258 |
+
"reset_region": {
|
| 259 |
+
"offset": [
|
| 260 |
+
5.222870163282267e-05,
|
| 261 |
+
0.10788939929975168,
|
| 262 |
+
0.5507136994887958
|
| 263 |
+
],
|
| 264 |
+
"size": [
|
| 265 |
+
0.7775131174413674,
|
| 266 |
+
0.5543220166326962
|
| 267 |
+
],
|
| 268 |
+
"name": "fridge_shelf1"
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"name": "distr2",
|
| 273 |
+
"fridgable": true,
|
| 274 |
+
"placement": {
|
| 275 |
+
"fixture": "fridge_main_group",
|
| 276 |
+
"size": [
|
| 277 |
+
0.3,
|
| 278 |
+
0.3
|
| 279 |
+
],
|
| 280 |
+
"pos": [
|
| 281 |
+
0.3,
|
| 282 |
+
1.0
|
| 283 |
+
]
|
| 284 |
+
},
|
| 285 |
+
"type": "object",
|
| 286 |
+
"info": {
|
| 287 |
+
"groups_containing_sampled_obj": [
|
| 288 |
+
"all",
|
| 289 |
+
"cookie_dough_ball",
|
| 290 |
+
"sweets",
|
| 291 |
+
"food",
|
| 292 |
+
"in_container"
|
| 293 |
+
],
|
| 294 |
+
"groups": [
|
| 295 |
+
"all"
|
| 296 |
+
],
|
| 297 |
+
"cat": "cookie_dough_ball",
|
| 298 |
+
"split": "test",
|
| 299 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall009/model.xml"
|
| 300 |
+
},
|
| 301 |
+
"reset_region": {
|
| 302 |
+
"offset": [
|
| 303 |
+
5.222870163282267e-05,
|
| 304 |
+
0.10788939929975168,
|
| 305 |
+
0.5507136994887958
|
| 306 |
+
],
|
| 307 |
+
"size": [
|
| 308 |
+
0.7775131174413674,
|
| 309 |
+
0.5543220166326962
|
| 310 |
+
],
|
| 311 |
+
"name": "fridge_shelf1"
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
],
|
| 315 |
+
"fixtures": {
|
| 316 |
+
"wall_room": {
|
| 317 |
+
"cls": "Wall"
|
| 318 |
+
},
|
| 319 |
+
"wall_backing_room": {
|
| 320 |
+
"cls": "Wall"
|
| 321 |
+
},
|
| 322 |
+
"wall_left_room": {
|
| 323 |
+
"cls": "Wall"
|
| 324 |
+
},
|
| 325 |
+
"wall_left_backing_room": {
|
| 326 |
+
"cls": "Wall"
|
| 327 |
+
},
|
| 328 |
+
"outlet_room": {
|
| 329 |
+
"cls": "WallAccessory"
|
| 330 |
+
},
|
| 331 |
+
"outlet_2_room": {
|
| 332 |
+
"cls": "WallAccessory"
|
| 333 |
+
},
|
| 334 |
+
"light_switch_room": {
|
| 335 |
+
"cls": "WallAccessory"
|
| 336 |
+
},
|
| 337 |
+
"light_switch_2_room": {
|
| 338 |
+
"cls": "WallAccessory"
|
| 339 |
+
},
|
| 340 |
+
"window_group_room": {
|
| 341 |
+
"cls": "Window"
|
| 342 |
+
},
|
| 343 |
+
"floor_room": {
|
| 344 |
+
"cls": "Floor"
|
| 345 |
+
},
|
| 346 |
+
"floor_backing_room": {
|
| 347 |
+
"cls": "Floor"
|
| 348 |
+
},
|
| 349 |
+
"stool_1_room": {
|
| 350 |
+
"cls": "Stool"
|
| 351 |
+
},
|
| 352 |
+
"stool_2_room": {
|
| 353 |
+
"cls": "Stool"
|
| 354 |
+
},
|
| 355 |
+
"stool_3_room": {
|
| 356 |
+
"cls": "Stool"
|
| 357 |
+
},
|
| 358 |
+
"counter_corner_main_main_group": {
|
| 359 |
+
"cls": "Counter"
|
| 360 |
+
},
|
| 361 |
+
"counter_main_main_group": {
|
| 362 |
+
"cls": "Counter"
|
| 363 |
+
},
|
| 364 |
+
"stovetop_main_group": {
|
| 365 |
+
"cls": "Stovetop"
|
| 366 |
+
},
|
| 367 |
+
"counter_1_right_main_group": {
|
| 368 |
+
"cls": "Counter"
|
| 369 |
+
},
|
| 370 |
+
"fridge_main_group": {
|
| 371 |
+
"cls": "FridgeFrenchDoor"
|
| 372 |
+
},
|
| 373 |
+
"fridge_housing_main_group": {
|
| 374 |
+
"cls": "HousingCabinet"
|
| 375 |
+
},
|
| 376 |
+
"stack_1_main_group_base": {
|
| 377 |
+
"cls": "Box"
|
| 378 |
+
},
|
| 379 |
+
"stack_1_main_group_1": {
|
| 380 |
+
"cls": "Drawer"
|
| 381 |
+
},
|
| 382 |
+
"stack_1_main_group_2": {
|
| 383 |
+
"cls": "Drawer"
|
| 384 |
+
},
|
| 385 |
+
"stack_1_main_group_3": {
|
| 386 |
+
"cls": "Drawer"
|
| 387 |
+
},
|
| 388 |
+
"stack_1_main_group_4": {
|
| 389 |
+
"cls": "Drawer"
|
| 390 |
+
},
|
| 391 |
+
"stack_2_main_group_base": {
|
| 392 |
+
"cls": "Box"
|
| 393 |
+
},
|
| 394 |
+
"stack_2_main_group_1": {
|
| 395 |
+
"cls": "HingeCabinet"
|
| 396 |
+
},
|
| 397 |
+
"stack_2_main_group_2": {
|
| 398 |
+
"cls": "PanelCabinet"
|
| 399 |
+
},
|
| 400 |
+
"stack_3_main_group_base": {
|
| 401 |
+
"cls": "Box"
|
| 402 |
+
},
|
| 403 |
+
"stack_3_main_group_1": {
|
| 404 |
+
"cls": "HingeCabinet"
|
| 405 |
+
},
|
| 406 |
+
"stack_3_main_group_2": {
|
| 407 |
+
"cls": "Drawer"
|
| 408 |
+
},
|
| 409 |
+
"stack_3_main_group_3": {
|
| 410 |
+
"cls": "Drawer"
|
| 411 |
+
},
|
| 412 |
+
"hood_main_group": {
|
| 413 |
+
"cls": "Hood"
|
| 414 |
+
},
|
| 415 |
+
"cab_main_main_group": {
|
| 416 |
+
"cls": "HingeCabinet"
|
| 417 |
+
},
|
| 418 |
+
"shelves_main_group": {
|
| 419 |
+
"cls": "OpenCabinet"
|
| 420 |
+
},
|
| 421 |
+
"fridge_cab_main_group": {
|
| 422 |
+
"cls": "HingeCabinet"
|
| 423 |
+
},
|
| 424 |
+
"paper_towel_main_group": {
|
| 425 |
+
"cls": "Accessory"
|
| 426 |
+
},
|
| 427 |
+
"knife_block_main_group": {
|
| 428 |
+
"cls": "Accessory"
|
| 429 |
+
},
|
| 430 |
+
"toaster_main_group": {
|
| 431 |
+
"cls": "Toaster"
|
| 432 |
+
},
|
| 433 |
+
"utensil_set_main_group": {
|
| 434 |
+
"cls": "Accessory"
|
| 435 |
+
},
|
| 436 |
+
"toaster_oven_main_group": {
|
| 437 |
+
"cls": "ToasterOven"
|
| 438 |
+
},
|
| 439 |
+
"jar_main_group": {
|
| 440 |
+
"cls": "Accessory"
|
| 441 |
+
},
|
| 442 |
+
"jar_2_main_group": {
|
| 443 |
+
"cls": "Accessory"
|
| 444 |
+
},
|
| 445 |
+
"glass_cup_main_group": {
|
| 446 |
+
"cls": "Accessory"
|
| 447 |
+
},
|
| 448 |
+
"glass_cup_2_main_group": {
|
| 449 |
+
"cls": "Accessory"
|
| 450 |
+
},
|
| 451 |
+
"jar_main_group_auxiliary_main_group": {
|
| 452 |
+
"cls": "Accessory"
|
| 453 |
+
},
|
| 454 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 455 |
+
"cls": "Accessory"
|
| 456 |
+
},
|
| 457 |
+
"cab_1_left_group": {
|
| 458 |
+
"cls": "SingleCabinet"
|
| 459 |
+
},
|
| 460 |
+
"cab_2_left_group": {
|
| 461 |
+
"cls": "SingleCabinet"
|
| 462 |
+
},
|
| 463 |
+
"cab_corner_3_left_group": {
|
| 464 |
+
"cls": "Box"
|
| 465 |
+
},
|
| 466 |
+
"cab_corner_4_left_group": {
|
| 467 |
+
"cls": "Box"
|
| 468 |
+
},
|
| 469 |
+
"sink_left_group": {
|
| 470 |
+
"cls": "Sink"
|
| 471 |
+
},
|
| 472 |
+
"counter_1_left_left_group": {
|
| 473 |
+
"cls": "Counter"
|
| 474 |
+
},
|
| 475 |
+
"counter_corner_left_group": {
|
| 476 |
+
"cls": "Counter"
|
| 477 |
+
},
|
| 478 |
+
"bottom_left_group_base": {
|
| 479 |
+
"cls": "Box"
|
| 480 |
+
},
|
| 481 |
+
"bottom_left_group_1": {
|
| 482 |
+
"cls": "Drawer"
|
| 483 |
+
},
|
| 484 |
+
"bottom_left_group_2": {
|
| 485 |
+
"cls": "Drawer"
|
| 486 |
+
},
|
| 487 |
+
"oven_left_group": {
|
| 488 |
+
"cls": "Oven"
|
| 489 |
+
},
|
| 490 |
+
"oven_housing_left_group": {
|
| 491 |
+
"cls": "HousingCabinet"
|
| 492 |
+
},
|
| 493 |
+
"microwave_left_group": {
|
| 494 |
+
"cls": "Microwave"
|
| 495 |
+
},
|
| 496 |
+
"micro_housing_left_group": {
|
| 497 |
+
"cls": "HousingCabinet"
|
| 498 |
+
},
|
| 499 |
+
"top_left_group": {
|
| 500 |
+
"cls": "HingeCabinet"
|
| 501 |
+
},
|
| 502 |
+
"stack_1_left_group": {
|
| 503 |
+
"cls": "SingleCabinet"
|
| 504 |
+
},
|
| 505 |
+
"dishwasher_left_group": {
|
| 506 |
+
"cls": "Dishwasher"
|
| 507 |
+
},
|
| 508 |
+
"stack_2_left_group_base": {
|
| 509 |
+
"cls": "Box"
|
| 510 |
+
},
|
| 511 |
+
"stack_2_left_group_1": {
|
| 512 |
+
"cls": "HingeCabinet"
|
| 513 |
+
},
|
| 514 |
+
"stack_2_left_group_2": {
|
| 515 |
+
"cls": "PanelCabinet"
|
| 516 |
+
},
|
| 517 |
+
"stack_3_left_group_base": {
|
| 518 |
+
"cls": "Box"
|
| 519 |
+
},
|
| 520 |
+
"stack_3_left_group_1": {
|
| 521 |
+
"cls": "HingeCabinet"
|
| 522 |
+
},
|
| 523 |
+
"stack_3_left_group_2": {
|
| 524 |
+
"cls": "Drawer"
|
| 525 |
+
},
|
| 526 |
+
"stack_3_left_group_3": {
|
| 527 |
+
"cls": "Drawer"
|
| 528 |
+
},
|
| 529 |
+
"coffee_machine_left_group": {
|
| 530 |
+
"cls": "CoffeeMachine"
|
| 531 |
+
},
|
| 532 |
+
"soap_dispenser_left_group": {
|
| 533 |
+
"cls": "Accessory"
|
| 534 |
+
},
|
| 535 |
+
"tiered_basket_left_group": {
|
| 536 |
+
"cls": "Accessory"
|
| 537 |
+
},
|
| 538 |
+
"island_island_group": {
|
| 539 |
+
"cls": "Counter"
|
| 540 |
+
},
|
| 541 |
+
"plant_island_group": {
|
| 542 |
+
"cls": "Accessory"
|
| 543 |
+
},
|
| 544 |
+
"fruit_bowl_island_group": {
|
| 545 |
+
"cls": "Accessory"
|
| 546 |
+
},
|
| 547 |
+
"salt_shaker_island_group": {
|
| 548 |
+
"cls": "Accessory"
|
| 549 |
+
},
|
| 550 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 551 |
+
"cls": "Accessory"
|
| 552 |
+
}
|
| 553 |
+
},
|
| 554 |
+
"gen_textures": {},
|
| 555 |
+
"lang": "Pick the chicken drumstick and lime from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 556 |
+
"fixture_refs": {
|
| 557 |
+
"stool1": "stool_1_room",
|
| 558 |
+
"stool2": "stool_2_room",
|
| 559 |
+
"dining_counter": "island_island_group",
|
| 560 |
+
"fridge": "fridge_main_group"
|
| 561 |
+
},
|
| 562 |
+
"cam_configs": {
|
| 563 |
+
"robot0_agentview_center": {
|
| 564 |
+
"pos": [
|
| 565 |
+
-0.6,
|
| 566 |
+
0.0,
|
| 567 |
+
1.15
|
| 568 |
+
],
|
| 569 |
+
"quat": [
|
| 570 |
+
0.636945903301239,
|
| 571 |
+
0.3325185477733612,
|
| 572 |
+
-0.3199238181114197,
|
| 573 |
+
-0.6175596117973328
|
| 574 |
+
],
|
| 575 |
+
"parent_body": "mobilebase0_support"
|
| 576 |
+
},
|
| 577 |
+
"robot0_agentview_left": {
|
| 578 |
+
"pos": [
|
| 579 |
+
-0.5,
|
| 580 |
+
0.35,
|
| 581 |
+
1.05
|
| 582 |
+
],
|
| 583 |
+
"quat": [
|
| 584 |
+
0.55623853,
|
| 585 |
+
0.29935253,
|
| 586 |
+
-0.37678665,
|
| 587 |
+
-0.6775092
|
| 588 |
+
],
|
| 589 |
+
"camera_attribs": {
|
| 590 |
+
"fovy": "60"
|
| 591 |
+
},
|
| 592 |
+
"parent_body": "mobilebase0_support"
|
| 593 |
+
},
|
| 594 |
+
"robot0_agentview_right": {
|
| 595 |
+
"pos": [
|
| 596 |
+
-0.5,
|
| 597 |
+
-0.35,
|
| 598 |
+
1.05
|
| 599 |
+
],
|
| 600 |
+
"quat": [
|
| 601 |
+
0.6775091886520386,
|
| 602 |
+
0.3767866790294647,
|
| 603 |
+
-0.2993525564670563,
|
| 604 |
+
-0.55623859167099
|
| 605 |
+
],
|
| 606 |
+
"camera_attribs": {
|
| 607 |
+
"fovy": "60"
|
| 608 |
+
},
|
| 609 |
+
"parent_body": "mobilebase0_support"
|
| 610 |
+
},
|
| 611 |
+
"robot0_frontview": {
|
| 612 |
+
"pos": [
|
| 613 |
+
-0.5,
|
| 614 |
+
0,
|
| 615 |
+
0.95
|
| 616 |
+
],
|
| 617 |
+
"quat": [
|
| 618 |
+
0.6088936924934387,
|
| 619 |
+
0.3814677894115448,
|
| 620 |
+
-0.3673907518386841,
|
| 621 |
+
-0.5905545353889465
|
| 622 |
+
],
|
| 623 |
+
"camera_attribs": {
|
| 624 |
+
"fovy": "60"
|
| 625 |
+
},
|
| 626 |
+
"parent_body": "mobilebase0_support"
|
| 627 |
+
},
|
| 628 |
+
"robot0_eye_in_hand": {
|
| 629 |
+
"pos": [
|
| 630 |
+
0.05,
|
| 631 |
+
0,
|
| 632 |
+
0
|
| 633 |
+
],
|
| 634 |
+
"quat": [
|
| 635 |
+
0,
|
| 636 |
+
0.707107,
|
| 637 |
+
0.707107,
|
| 638 |
+
0
|
| 639 |
+
],
|
| 640 |
+
"parent_body": "robot0_right_hand"
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
"init_robot_base_pos": [
|
| 644 |
+
3.97079151695393,
|
| 645 |
+
-3.2358289793807353,
|
| 646 |
+
0.0
|
| 647 |
+
],
|
| 648 |
+
"init_robot_base_ori": [
|
| 649 |
+
0.0,
|
| 650 |
+
0.0,
|
| 651 |
+
3.1415889803846895
|
| 652 |
+
]
|
| 653 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000169/ep_meta.json
ADDED
|
@@ -0,0 +1,741 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 10,
|
| 3 |
+
"style_id": 10,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_dining_area_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.232802852625,
|
| 14 |
+
0.23286639915,
|
| 15 |
+
0.014759147025
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.0502038361803159,
|
| 47 |
+
1.0
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.5998980819098421,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "counter_1_dining_area_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.244743326685,
|
| 98 |
+
0.24474403597500002,
|
| 99 |
+
0.023217144615000004
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.249796168970498,
|
| 131 |
+
1.0
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-0.00010191551475102756,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"broccoli",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"oven_ready"
|
| 165 |
+
],
|
| 166 |
+
"groups": [
|
| 167 |
+
"vegetable"
|
| 168 |
+
],
|
| 169 |
+
"cat": "broccoli",
|
| 170 |
+
"split": "test",
|
| 171 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "bowl",
|
| 176 |
+
"obj_groups": "bowl",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"placement": {
|
| 179 |
+
"fixture": "counter_1_dining_area_group",
|
| 180 |
+
"sample_region_kwargs": {
|
| 181 |
+
"ref": "stool_2_room",
|
| 182 |
+
"min_size": [
|
| 183 |
+
0.2599940797999999,
|
| 184 |
+
0.2599929331999999,
|
| 185 |
+
0.08604590539999997
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"size": [
|
| 189 |
+
1.0,
|
| 190 |
+
0.4
|
| 191 |
+
],
|
| 192 |
+
"pos": [
|
| 193 |
+
"ref",
|
| 194 |
+
"ref"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"type": "object",
|
| 198 |
+
"info": {
|
| 199 |
+
"groups_containing_sampled_obj": [
|
| 200 |
+
"all",
|
| 201 |
+
"bowl",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"stackable",
|
| 204 |
+
"group1",
|
| 205 |
+
"container_set2"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"bowl"
|
| 209 |
+
],
|
| 210 |
+
"cat": "bowl",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
|
| 213 |
+
},
|
| 214 |
+
"reset_region": {
|
| 215 |
+
"size": [
|
| 216 |
+
2.249796168970498,
|
| 217 |
+
1.0
|
| 218 |
+
],
|
| 219 |
+
"offset": [
|
| 220 |
+
-0.00010191551475102756,
|
| 221 |
+
0.0,
|
| 222 |
+
0.46
|
| 223 |
+
],
|
| 224 |
+
"name": "geom_0"
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"name": "distr1",
|
| 229 |
+
"fridgable": true,
|
| 230 |
+
"placement": {
|
| 231 |
+
"fixture": "fridge_left_group",
|
| 232 |
+
"size": [
|
| 233 |
+
0.3,
|
| 234 |
+
0.3
|
| 235 |
+
],
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.3,
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"type": "object",
|
| 242 |
+
"info": {
|
| 243 |
+
"groups_containing_sampled_obj": [
|
| 244 |
+
"all",
|
| 245 |
+
"hotdog_bun",
|
| 246 |
+
"bread_food",
|
| 247 |
+
"food",
|
| 248 |
+
"in_container"
|
| 249 |
+
],
|
| 250 |
+
"groups": [
|
| 251 |
+
"all"
|
| 252 |
+
],
|
| 253 |
+
"cat": "hotdog_bun",
|
| 254 |
+
"split": "test",
|
| 255 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun011/model.xml"
|
| 256 |
+
},
|
| 257 |
+
"reset_region": {
|
| 258 |
+
"offset": [
|
| 259 |
+
0.0014527782289688873,
|
| 260 |
+
0.06981058591882013,
|
| 261 |
+
0.1844737151775919
|
| 262 |
+
],
|
| 263 |
+
"size": [
|
| 264 |
+
0.6856360152799493,
|
| 265 |
+
0.5172543487964222
|
| 266 |
+
],
|
| 267 |
+
"name": "fridge_shelf0"
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"name": "distr2",
|
| 272 |
+
"fridgable": true,
|
| 273 |
+
"placement": {
|
| 274 |
+
"fixture": "fridge_left_group",
|
| 275 |
+
"size": [
|
| 276 |
+
0.3,
|
| 277 |
+
0.3
|
| 278 |
+
],
|
| 279 |
+
"pos": [
|
| 280 |
+
0.3,
|
| 281 |
+
1.0
|
| 282 |
+
]
|
| 283 |
+
},
|
| 284 |
+
"type": "object",
|
| 285 |
+
"info": {
|
| 286 |
+
"groups_containing_sampled_obj": [
|
| 287 |
+
"all",
|
| 288 |
+
"can",
|
| 289 |
+
"drink",
|
| 290 |
+
"group1"
|
| 291 |
+
],
|
| 292 |
+
"groups": [
|
| 293 |
+
"all"
|
| 294 |
+
],
|
| 295 |
+
"cat": "can",
|
| 296 |
+
"split": "test",
|
| 297 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_6/model.xml"
|
| 298 |
+
},
|
| 299 |
+
"reset_region": {
|
| 300 |
+
"offset": [
|
| 301 |
+
0.0014527782289688873,
|
| 302 |
+
0.06981058591882013,
|
| 303 |
+
0.1844737151775919
|
| 304 |
+
],
|
| 305 |
+
"size": [
|
| 306 |
+
0.6856360152799493,
|
| 307 |
+
0.5172543487964222
|
| 308 |
+
],
|
| 309 |
+
"name": "fridge_shelf0"
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
],
|
| 313 |
+
"fixtures": {
|
| 314 |
+
"wall_room": {
|
| 315 |
+
"cls": "Wall"
|
| 316 |
+
},
|
| 317 |
+
"wall_backing_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_front_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"wall_front_backing_room": {
|
| 324 |
+
"cls": "Wall"
|
| 325 |
+
},
|
| 326 |
+
"wall_left_room": {
|
| 327 |
+
"cls": "Wall"
|
| 328 |
+
},
|
| 329 |
+
"wall_left_backing_room": {
|
| 330 |
+
"cls": "Wall"
|
| 331 |
+
},
|
| 332 |
+
"wall_left_2_room": {
|
| 333 |
+
"cls": "Wall"
|
| 334 |
+
},
|
| 335 |
+
"wall_2_left_backing_room": {
|
| 336 |
+
"cls": "Wall"
|
| 337 |
+
},
|
| 338 |
+
"wall_right_room": {
|
| 339 |
+
"cls": "Wall"
|
| 340 |
+
},
|
| 341 |
+
"wall_right_backing_room": {
|
| 342 |
+
"cls": "Wall"
|
| 343 |
+
},
|
| 344 |
+
"utensil_rack_room": {
|
| 345 |
+
"cls": "WallAccessory"
|
| 346 |
+
},
|
| 347 |
+
"outlet_room": {
|
| 348 |
+
"cls": "WallAccessory"
|
| 349 |
+
},
|
| 350 |
+
"outlet_2_room": {
|
| 351 |
+
"cls": "WallAccessory"
|
| 352 |
+
},
|
| 353 |
+
"outlet_3_room": {
|
| 354 |
+
"cls": "WallAccessory"
|
| 355 |
+
},
|
| 356 |
+
"light_switch_room": {
|
| 357 |
+
"cls": "WallAccessory"
|
| 358 |
+
},
|
| 359 |
+
"light_switch_2_room": {
|
| 360 |
+
"cls": "WallAccessory"
|
| 361 |
+
},
|
| 362 |
+
"window_group_room": {
|
| 363 |
+
"cls": "Window"
|
| 364 |
+
},
|
| 365 |
+
"floor_room": {
|
| 366 |
+
"cls": "Floor"
|
| 367 |
+
},
|
| 368 |
+
"floor_backing_room": {
|
| 369 |
+
"cls": "Floor"
|
| 370 |
+
},
|
| 371 |
+
"floor_front_room": {
|
| 372 |
+
"cls": "Floor"
|
| 373 |
+
},
|
| 374 |
+
"floor_front_backing_room": {
|
| 375 |
+
"cls": "Floor"
|
| 376 |
+
},
|
| 377 |
+
"stool_1_room": {
|
| 378 |
+
"cls": "Stool"
|
| 379 |
+
},
|
| 380 |
+
"stool_2_room": {
|
| 381 |
+
"cls": "Stool"
|
| 382 |
+
},
|
| 383 |
+
"stool_3_room": {
|
| 384 |
+
"cls": "Stool"
|
| 385 |
+
},
|
| 386 |
+
"counter_corner_1_main_group": {
|
| 387 |
+
"cls": "Counter"
|
| 388 |
+
},
|
| 389 |
+
"counter_main_main_group": {
|
| 390 |
+
"cls": "Counter"
|
| 391 |
+
},
|
| 392 |
+
"stove_main_group": {
|
| 393 |
+
"cls": "Stove"
|
| 394 |
+
},
|
| 395 |
+
"counter_1_main_group": {
|
| 396 |
+
"cls": "Counter"
|
| 397 |
+
},
|
| 398 |
+
"counter_corner_2_main_group": {
|
| 399 |
+
"cls": "Counter"
|
| 400 |
+
},
|
| 401 |
+
"cab_corner_main_group": {
|
| 402 |
+
"cls": "Box"
|
| 403 |
+
},
|
| 404 |
+
"cab_main_main_group": {
|
| 405 |
+
"cls": "HingeCabinet"
|
| 406 |
+
},
|
| 407 |
+
"cab_1_main_group": {
|
| 408 |
+
"cls": "HingeCabinet"
|
| 409 |
+
},
|
| 410 |
+
"hood_main_group": {
|
| 411 |
+
"cls": "Hood"
|
| 412 |
+
},
|
| 413 |
+
"shelves_main_group": {
|
| 414 |
+
"cls": "OpenCabinet"
|
| 415 |
+
},
|
| 416 |
+
"cab_corner_3_main_group": {
|
| 417 |
+
"cls": "Box"
|
| 418 |
+
},
|
| 419 |
+
"cab_corner_4_main_group": {
|
| 420 |
+
"cls": "Box"
|
| 421 |
+
},
|
| 422 |
+
"stack_1_main_group_base": {
|
| 423 |
+
"cls": "Box"
|
| 424 |
+
},
|
| 425 |
+
"stack_1_main_group_1": {
|
| 426 |
+
"cls": "HingeCabinet"
|
| 427 |
+
},
|
| 428 |
+
"stack_1_main_group_2": {
|
| 429 |
+
"cls": "Drawer"
|
| 430 |
+
},
|
| 431 |
+
"stack_1_main_group_3": {
|
| 432 |
+
"cls": "Drawer"
|
| 433 |
+
},
|
| 434 |
+
"stack_2_main_group_base": {
|
| 435 |
+
"cls": "Box"
|
| 436 |
+
},
|
| 437 |
+
"stack_2_main_group_1": {
|
| 438 |
+
"cls": "HingeCabinet"
|
| 439 |
+
},
|
| 440 |
+
"stack_2_main_group_2": {
|
| 441 |
+
"cls": "Drawer"
|
| 442 |
+
},
|
| 443 |
+
"stack_2_main_group_3": {
|
| 444 |
+
"cls": "Drawer"
|
| 445 |
+
},
|
| 446 |
+
"right_corner_box_main_group": {
|
| 447 |
+
"cls": "Box"
|
| 448 |
+
},
|
| 449 |
+
"stack_3_main_group_base": {
|
| 450 |
+
"cls": "Box"
|
| 451 |
+
},
|
| 452 |
+
"stack_3_main_group_1": {
|
| 453 |
+
"cls": "HingeCabinet"
|
| 454 |
+
},
|
| 455 |
+
"stack_3_main_group_2": {
|
| 456 |
+
"cls": "Drawer"
|
| 457 |
+
},
|
| 458 |
+
"stack_3_main_group_3": {
|
| 459 |
+
"cls": "Drawer"
|
| 460 |
+
},
|
| 461 |
+
"stack_4_main_group_base": {
|
| 462 |
+
"cls": "Box"
|
| 463 |
+
},
|
| 464 |
+
"stack_4_main_group_1": {
|
| 465 |
+
"cls": "Drawer"
|
| 466 |
+
},
|
| 467 |
+
"stack_4_main_group_2": {
|
| 468 |
+
"cls": "Drawer"
|
| 469 |
+
},
|
| 470 |
+
"stack_4_main_group_3": {
|
| 471 |
+
"cls": "Drawer"
|
| 472 |
+
},
|
| 473 |
+
"stack_4_main_group_4": {
|
| 474 |
+
"cls": "Drawer"
|
| 475 |
+
},
|
| 476 |
+
"coffee_machine_main_group": {
|
| 477 |
+
"cls": "CoffeeMachine"
|
| 478 |
+
},
|
| 479 |
+
"knife_block_main_group": {
|
| 480 |
+
"cls": "Accessory"
|
| 481 |
+
},
|
| 482 |
+
"plant_main_group": {
|
| 483 |
+
"cls": "Accessory"
|
| 484 |
+
},
|
| 485 |
+
"toaster_main_group": {
|
| 486 |
+
"cls": "Toaster"
|
| 487 |
+
},
|
| 488 |
+
"toaster_oven_main_group": {
|
| 489 |
+
"cls": "ToasterOven"
|
| 490 |
+
},
|
| 491 |
+
"tiered_basket_main_group": {
|
| 492 |
+
"cls": "Accessory"
|
| 493 |
+
},
|
| 494 |
+
"jar_main_group": {
|
| 495 |
+
"cls": "Accessory"
|
| 496 |
+
},
|
| 497 |
+
"paprika_main_group": {
|
| 498 |
+
"cls": "Accessory"
|
| 499 |
+
},
|
| 500 |
+
"cinnamon_main_group": {
|
| 501 |
+
"cls": "Accessory"
|
| 502 |
+
},
|
| 503 |
+
"turmeric_main_group": {
|
| 504 |
+
"cls": "Accessory"
|
| 505 |
+
},
|
| 506 |
+
"salt_shaker_main_group": {
|
| 507 |
+
"cls": "Accessory"
|
| 508 |
+
},
|
| 509 |
+
"jar_main_group_auxiliary_main_group": {
|
| 510 |
+
"cls": "Accessory"
|
| 511 |
+
},
|
| 512 |
+
"salt_shaker_main_group_auxiliary_main_group": {
|
| 513 |
+
"cls": "Accessory"
|
| 514 |
+
},
|
| 515 |
+
"fridge_left_group": {
|
| 516 |
+
"cls": "FridgeFrenchDoor"
|
| 517 |
+
},
|
| 518 |
+
"fridge_housing_left_group": {
|
| 519 |
+
"cls": "HousingCabinet"
|
| 520 |
+
},
|
| 521 |
+
"fridge_top_left_group": {
|
| 522 |
+
"cls": "HingeCabinet"
|
| 523 |
+
},
|
| 524 |
+
"stack_left_left_group_base": {
|
| 525 |
+
"cls": "Box"
|
| 526 |
+
},
|
| 527 |
+
"stack_left_left_group_1": {
|
| 528 |
+
"cls": "SingleCabinet"
|
| 529 |
+
},
|
| 530 |
+
"stack_left_left_group_2": {
|
| 531 |
+
"cls": "SingleCabinet"
|
| 532 |
+
},
|
| 533 |
+
"stack_right_left_group_base": {
|
| 534 |
+
"cls": "Box"
|
| 535 |
+
},
|
| 536 |
+
"stack_right_left_group_1": {
|
| 537 |
+
"cls": "SingleCabinet"
|
| 538 |
+
},
|
| 539 |
+
"stack_right_left_group_2": {
|
| 540 |
+
"cls": "SingleCabinet"
|
| 541 |
+
},
|
| 542 |
+
"box_left_top_left_group": {
|
| 543 |
+
"cls": "Box"
|
| 544 |
+
},
|
| 545 |
+
"box_left_bottom_left_group": {
|
| 546 |
+
"cls": "Box"
|
| 547 |
+
},
|
| 548 |
+
"box_right_top_left_group": {
|
| 549 |
+
"cls": "Box"
|
| 550 |
+
},
|
| 551 |
+
"box_right_bottom_left_group": {
|
| 552 |
+
"cls": "Box"
|
| 553 |
+
},
|
| 554 |
+
"sink_right_group": {
|
| 555 |
+
"cls": "Sink"
|
| 556 |
+
},
|
| 557 |
+
"counter_1_right_group": {
|
| 558 |
+
"cls": "Counter"
|
| 559 |
+
},
|
| 560 |
+
"counter_corner_right_group": {
|
| 561 |
+
"cls": "Counter"
|
| 562 |
+
},
|
| 563 |
+
"stack_1_right_group_base": {
|
| 564 |
+
"cls": "Box"
|
| 565 |
+
},
|
| 566 |
+
"stack_1_right_group_1": {
|
| 567 |
+
"cls": "HingeCabinet"
|
| 568 |
+
},
|
| 569 |
+
"stack_1_right_group_2": {
|
| 570 |
+
"cls": "PanelCabinet"
|
| 571 |
+
},
|
| 572 |
+
"dishwasher_right_group": {
|
| 573 |
+
"cls": "Dishwasher"
|
| 574 |
+
},
|
| 575 |
+
"stack_2_right_group_base": {
|
| 576 |
+
"cls": "Box"
|
| 577 |
+
},
|
| 578 |
+
"stack_2_right_group_1": {
|
| 579 |
+
"cls": "SingleCabinet"
|
| 580 |
+
},
|
| 581 |
+
"cab_1_right_group": {
|
| 582 |
+
"cls": "HingeCabinet"
|
| 583 |
+
},
|
| 584 |
+
"cab_2_right_group": {
|
| 585 |
+
"cls": "SingleCabinet"
|
| 586 |
+
},
|
| 587 |
+
"soap_dispenser_right_group": {
|
| 588 |
+
"cls": "Accessory"
|
| 589 |
+
},
|
| 590 |
+
"counter_corner_1_front_group": {
|
| 591 |
+
"cls": "Counter"
|
| 592 |
+
},
|
| 593 |
+
"counter_1_front_group": {
|
| 594 |
+
"cls": "Counter"
|
| 595 |
+
},
|
| 596 |
+
"stack_1_front_group_base": {
|
| 597 |
+
"cls": "Box"
|
| 598 |
+
},
|
| 599 |
+
"stack_1_front_group_1": {
|
| 600 |
+
"cls": "HingeCabinet"
|
| 601 |
+
},
|
| 602 |
+
"stack_1_front_group_2": {
|
| 603 |
+
"cls": "Drawer"
|
| 604 |
+
},
|
| 605 |
+
"shelves_front_group": {
|
| 606 |
+
"cls": "OpenCabinet"
|
| 607 |
+
},
|
| 608 |
+
"bottom_front_group_base": {
|
| 609 |
+
"cls": "Box"
|
| 610 |
+
},
|
| 611 |
+
"bottom_front_group_1": {
|
| 612 |
+
"cls": "Drawer"
|
| 613 |
+
},
|
| 614 |
+
"bottom_front_group_2": {
|
| 615 |
+
"cls": "Drawer"
|
| 616 |
+
},
|
| 617 |
+
"cab_middle_front_group": {
|
| 618 |
+
"cls": "HingeCabinet"
|
| 619 |
+
},
|
| 620 |
+
"microwave_front_group": {
|
| 621 |
+
"cls": "Microwave"
|
| 622 |
+
},
|
| 623 |
+
"micro_housing_front_group": {
|
| 624 |
+
"cls": "HousingCabinet"
|
| 625 |
+
},
|
| 626 |
+
"top_front_group": {
|
| 627 |
+
"cls": "HingeCabinet"
|
| 628 |
+
},
|
| 629 |
+
"utensil_set_front_group": {
|
| 630 |
+
"cls": "Accessory"
|
| 631 |
+
},
|
| 632 |
+
"counter_1_dining_area_group": {
|
| 633 |
+
"cls": "Counter"
|
| 634 |
+
},
|
| 635 |
+
"paper_towel_dining_area_group": {
|
| 636 |
+
"cls": "Accessory"
|
| 637 |
+
},
|
| 638 |
+
"fruit_bowl_dining_area_group": {
|
| 639 |
+
"cls": "Accessory"
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
"gen_textures": {},
|
| 643 |
+
"lang": "Pick the chicken drumstick and broccoli from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 644 |
+
"fixture_refs": {
|
| 645 |
+
"stool1": "stool_1_room",
|
| 646 |
+
"stool2": "stool_2_room",
|
| 647 |
+
"dining_counter": "counter_1_dining_area_group",
|
| 648 |
+
"fridge": "fridge_left_group"
|
| 649 |
+
},
|
| 650 |
+
"cam_configs": {
|
| 651 |
+
"robot0_agentview_center": {
|
| 652 |
+
"pos": [
|
| 653 |
+
-0.6,
|
| 654 |
+
0.0,
|
| 655 |
+
1.15
|
| 656 |
+
],
|
| 657 |
+
"quat": [
|
| 658 |
+
0.636945903301239,
|
| 659 |
+
0.3325185477733612,
|
| 660 |
+
-0.3199238181114197,
|
| 661 |
+
-0.6175596117973328
|
| 662 |
+
],
|
| 663 |
+
"parent_body": "mobilebase0_support"
|
| 664 |
+
},
|
| 665 |
+
"robot0_agentview_left": {
|
| 666 |
+
"pos": [
|
| 667 |
+
-0.5,
|
| 668 |
+
0.35,
|
| 669 |
+
1.05
|
| 670 |
+
],
|
| 671 |
+
"quat": [
|
| 672 |
+
0.55623853,
|
| 673 |
+
0.29935253,
|
| 674 |
+
-0.37678665,
|
| 675 |
+
-0.6775092
|
| 676 |
+
],
|
| 677 |
+
"camera_attribs": {
|
| 678 |
+
"fovy": "60"
|
| 679 |
+
},
|
| 680 |
+
"parent_body": "mobilebase0_support"
|
| 681 |
+
},
|
| 682 |
+
"robot0_agentview_right": {
|
| 683 |
+
"pos": [
|
| 684 |
+
-0.5,
|
| 685 |
+
-0.35,
|
| 686 |
+
1.05
|
| 687 |
+
],
|
| 688 |
+
"quat": [
|
| 689 |
+
0.6775091886520386,
|
| 690 |
+
0.3767866790294647,
|
| 691 |
+
-0.2993525564670563,
|
| 692 |
+
-0.55623859167099
|
| 693 |
+
],
|
| 694 |
+
"camera_attribs": {
|
| 695 |
+
"fovy": "60"
|
| 696 |
+
},
|
| 697 |
+
"parent_body": "mobilebase0_support"
|
| 698 |
+
},
|
| 699 |
+
"robot0_frontview": {
|
| 700 |
+
"pos": [
|
| 701 |
+
-0.5,
|
| 702 |
+
0,
|
| 703 |
+
0.95
|
| 704 |
+
],
|
| 705 |
+
"quat": [
|
| 706 |
+
0.6088936924934387,
|
| 707 |
+
0.3814677894115448,
|
| 708 |
+
-0.3673907518386841,
|
| 709 |
+
-0.5905545353889465
|
| 710 |
+
],
|
| 711 |
+
"camera_attribs": {
|
| 712 |
+
"fovy": "60"
|
| 713 |
+
},
|
| 714 |
+
"parent_body": "mobilebase0_support"
|
| 715 |
+
},
|
| 716 |
+
"robot0_eye_in_hand": {
|
| 717 |
+
"pos": [
|
| 718 |
+
0.05,
|
| 719 |
+
0,
|
| 720 |
+
0
|
| 721 |
+
],
|
| 722 |
+
"quat": [
|
| 723 |
+
0,
|
| 724 |
+
0.707107,
|
| 725 |
+
0.707107,
|
| 726 |
+
0
|
| 727 |
+
],
|
| 728 |
+
"parent_body": "robot0_right_hand"
|
| 729 |
+
}
|
| 730 |
+
},
|
| 731 |
+
"init_robot_base_pos": [
|
| 732 |
+
4.683306181951771,
|
| 733 |
+
-4.010693949906383,
|
| 734 |
+
0.0
|
| 735 |
+
],
|
| 736 |
+
"init_robot_base_ori": [
|
| 737 |
+
0.0,
|
| 738 |
+
0.0,
|
| 739 |
+
7.85388898038469
|
| 740 |
+
]
|
| 741 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000196/ep_meta.json
ADDED
|
@@ -0,0 +1,681 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 8,
|
| 3 |
+
"style_id": 8,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_front_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.232802852625,
|
| 14 |
+
0.23286639915,
|
| 15 |
+
0.014759147025
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.100074126305603,
|
| 47 |
+
0.65
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.3999629368471984,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "counter_1_front_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.247940875935,
|
| 98 |
+
0.24539034402000004,
|
| 99 |
+
0.01667049282
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
1.1999258801329122,
|
| 131 |
+
0.65
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-0.35003705993354384,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"lemon_wedge",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"vegetable"
|
| 167 |
+
],
|
| 168 |
+
"cat": "lemon_wedge",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge012/model.xml"
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"name": "bowl",
|
| 175 |
+
"obj_groups": "bowl",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"placement": {
|
| 178 |
+
"fixture": "counter_1_front_group",
|
| 179 |
+
"sample_region_kwargs": {
|
| 180 |
+
"ref": "stool_2_room",
|
| 181 |
+
"min_size": [
|
| 182 |
+
0.23981271599999987,
|
| 183 |
+
0.2399972111999999,
|
| 184 |
+
0.09829280159999995
|
| 185 |
+
]
|
| 186 |
+
},
|
| 187 |
+
"size": [
|
| 188 |
+
1.0,
|
| 189 |
+
0.4
|
| 190 |
+
],
|
| 191 |
+
"pos": [
|
| 192 |
+
"ref",
|
| 193 |
+
"ref"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"type": "object",
|
| 197 |
+
"info": {
|
| 198 |
+
"groups_containing_sampled_obj": [
|
| 199 |
+
"all",
|
| 200 |
+
"bowl",
|
| 201 |
+
"receptacle",
|
| 202 |
+
"stackable",
|
| 203 |
+
"group1",
|
| 204 |
+
"container_set2"
|
| 205 |
+
],
|
| 206 |
+
"groups": [
|
| 207 |
+
"bowl"
|
| 208 |
+
],
|
| 209 |
+
"cat": "bowl",
|
| 210 |
+
"split": "test",
|
| 211 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml"
|
| 212 |
+
},
|
| 213 |
+
"reset_region": {
|
| 214 |
+
"size": [
|
| 215 |
+
1.1999258801329122,
|
| 216 |
+
0.65
|
| 217 |
+
],
|
| 218 |
+
"offset": [
|
| 219 |
+
-0.35003705993354384,
|
| 220 |
+
0.0,
|
| 221 |
+
0.46
|
| 222 |
+
],
|
| 223 |
+
"name": "geom_0"
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "distr1",
|
| 228 |
+
"fridgable": true,
|
| 229 |
+
"placement": {
|
| 230 |
+
"fixture": "fridge_left_group",
|
| 231 |
+
"size": [
|
| 232 |
+
0.3,
|
| 233 |
+
0.3
|
| 234 |
+
],
|
| 235 |
+
"pos": [
|
| 236 |
+
-0.3,
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"type": "object",
|
| 241 |
+
"info": {
|
| 242 |
+
"groups_containing_sampled_obj": [
|
| 243 |
+
"all",
|
| 244 |
+
"lettuce",
|
| 245 |
+
"vegetable",
|
| 246 |
+
"food",
|
| 247 |
+
"in_container"
|
| 248 |
+
],
|
| 249 |
+
"groups": [
|
| 250 |
+
"all"
|
| 251 |
+
],
|
| 252 |
+
"cat": "lettuce",
|
| 253 |
+
"split": "test",
|
| 254 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml"
|
| 255 |
+
},
|
| 256 |
+
"reset_region": {
|
| 257 |
+
"offset": [
|
| 258 |
+
0.00734478175963188,
|
| 259 |
+
0.003573956171600376,
|
| 260 |
+
0.24405273782152556
|
| 261 |
+
],
|
| 262 |
+
"size": [
|
| 263 |
+
0.6623975154678047,
|
| 264 |
+
0.4660752914038736
|
| 265 |
+
],
|
| 266 |
+
"name": "fridge_shelf0"
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"name": "distr2",
|
| 271 |
+
"fridgable": true,
|
| 272 |
+
"placement": {
|
| 273 |
+
"fixture": "fridge_left_group",
|
| 274 |
+
"size": [
|
| 275 |
+
0.3,
|
| 276 |
+
0.3
|
| 277 |
+
],
|
| 278 |
+
"pos": [
|
| 279 |
+
0.3,
|
| 280 |
+
1.0
|
| 281 |
+
]
|
| 282 |
+
},
|
| 283 |
+
"type": "object",
|
| 284 |
+
"info": {
|
| 285 |
+
"groups_containing_sampled_obj": [
|
| 286 |
+
"all",
|
| 287 |
+
"tangerine",
|
| 288 |
+
"fruit",
|
| 289 |
+
"food",
|
| 290 |
+
"in_container"
|
| 291 |
+
],
|
| 292 |
+
"groups": [
|
| 293 |
+
"all"
|
| 294 |
+
],
|
| 295 |
+
"cat": "tangerine",
|
| 296 |
+
"split": "test",
|
| 297 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_4/model.xml"
|
| 298 |
+
},
|
| 299 |
+
"reset_region": {
|
| 300 |
+
"offset": [
|
| 301 |
+
0.00734478175963188,
|
| 302 |
+
0.003573956171600376,
|
| 303 |
+
0.24405273782152556
|
| 304 |
+
],
|
| 305 |
+
"size": [
|
| 306 |
+
0.6623975154678047,
|
| 307 |
+
0.4660752914038736
|
| 308 |
+
],
|
| 309 |
+
"name": "fridge_shelf0"
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
],
|
| 313 |
+
"fixtures": {
|
| 314 |
+
"wall_room": {
|
| 315 |
+
"cls": "Wall"
|
| 316 |
+
},
|
| 317 |
+
"wall_backing_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_left_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"wall_left_backing_room": {
|
| 324 |
+
"cls": "Wall"
|
| 325 |
+
},
|
| 326 |
+
"wall_right_room": {
|
| 327 |
+
"cls": "Wall"
|
| 328 |
+
},
|
| 329 |
+
"wall_right_backing_room": {
|
| 330 |
+
"cls": "Wall"
|
| 331 |
+
},
|
| 332 |
+
"outlet_room": {
|
| 333 |
+
"cls": "WallAccessory"
|
| 334 |
+
},
|
| 335 |
+
"outlet_2_room": {
|
| 336 |
+
"cls": "WallAccessory"
|
| 337 |
+
},
|
| 338 |
+
"light_switch_room": {
|
| 339 |
+
"cls": "WallAccessory"
|
| 340 |
+
},
|
| 341 |
+
"light_switch_2_room": {
|
| 342 |
+
"cls": "WallAccessory"
|
| 343 |
+
},
|
| 344 |
+
"utensil_rack_room": {
|
| 345 |
+
"cls": "WallAccessory"
|
| 346 |
+
},
|
| 347 |
+
"window_group_room": {
|
| 348 |
+
"cls": "Window"
|
| 349 |
+
},
|
| 350 |
+
"floor_room": {
|
| 351 |
+
"cls": "Floor"
|
| 352 |
+
},
|
| 353 |
+
"floor_backing_room": {
|
| 354 |
+
"cls": "Floor"
|
| 355 |
+
},
|
| 356 |
+
"stool_1_room": {
|
| 357 |
+
"cls": "Stool"
|
| 358 |
+
},
|
| 359 |
+
"stool_2_room": {
|
| 360 |
+
"cls": "Stool"
|
| 361 |
+
},
|
| 362 |
+
"counter_corner_main_group": {
|
| 363 |
+
"cls": "Counter"
|
| 364 |
+
},
|
| 365 |
+
"counter_main_main_group": {
|
| 366 |
+
"cls": "Counter"
|
| 367 |
+
},
|
| 368 |
+
"counter_corner_2_main_group": {
|
| 369 |
+
"cls": "Counter"
|
| 370 |
+
},
|
| 371 |
+
"cab_corner_main_group": {
|
| 372 |
+
"cls": "Box"
|
| 373 |
+
},
|
| 374 |
+
"cab_corner_2_main_group": {
|
| 375 |
+
"cls": "Box"
|
| 376 |
+
},
|
| 377 |
+
"cab_main_main_group": {
|
| 378 |
+
"cls": "HingeCabinet"
|
| 379 |
+
},
|
| 380 |
+
"cab_1_main_group": {
|
| 381 |
+
"cls": "SingleCabinet"
|
| 382 |
+
},
|
| 383 |
+
"cab_corner_3_main_group": {
|
| 384 |
+
"cls": "Box"
|
| 385 |
+
},
|
| 386 |
+
"cab_corner_4_main_group": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"stack_1_main_group_base": {
|
| 390 |
+
"cls": "Box"
|
| 391 |
+
},
|
| 392 |
+
"stack_1_main_group_1": {
|
| 393 |
+
"cls": "HingeCabinet"
|
| 394 |
+
},
|
| 395 |
+
"stack_1_main_group_2": {
|
| 396 |
+
"cls": "Drawer"
|
| 397 |
+
},
|
| 398 |
+
"stack_1_main_group_3": {
|
| 399 |
+
"cls": "Drawer"
|
| 400 |
+
},
|
| 401 |
+
"stack_2_main_group_base": {
|
| 402 |
+
"cls": "Box"
|
| 403 |
+
},
|
| 404 |
+
"stack_2_main_group_1": {
|
| 405 |
+
"cls": "HingeCabinet"
|
| 406 |
+
},
|
| 407 |
+
"stack_2_main_group_2": {
|
| 408 |
+
"cls": "Drawer"
|
| 409 |
+
},
|
| 410 |
+
"stack_2_main_group_3": {
|
| 411 |
+
"cls": "Drawer"
|
| 412 |
+
},
|
| 413 |
+
"stack_3_main_group_base": {
|
| 414 |
+
"cls": "Box"
|
| 415 |
+
},
|
| 416 |
+
"stack_3_main_group_1": {
|
| 417 |
+
"cls": "Drawer"
|
| 418 |
+
},
|
| 419 |
+
"stack_3_main_group_2": {
|
| 420 |
+
"cls": "Drawer"
|
| 421 |
+
},
|
| 422 |
+
"stack_3_main_group_3": {
|
| 423 |
+
"cls": "Drawer"
|
| 424 |
+
},
|
| 425 |
+
"stack_3_main_group_4": {
|
| 426 |
+
"cls": "Drawer"
|
| 427 |
+
},
|
| 428 |
+
"toaster_main_group": {
|
| 429 |
+
"cls": "Toaster"
|
| 430 |
+
},
|
| 431 |
+
"toaster_oven_main_group": {
|
| 432 |
+
"cls": "ToasterOven"
|
| 433 |
+
},
|
| 434 |
+
"oil_bottle_main_group": {
|
| 435 |
+
"cls": "Accessory"
|
| 436 |
+
},
|
| 437 |
+
"fruit_bowl_main_group": {
|
| 438 |
+
"cls": "Accessory"
|
| 439 |
+
},
|
| 440 |
+
"knife_block_main_group": {
|
| 441 |
+
"cls": "Accessory"
|
| 442 |
+
},
|
| 443 |
+
"utensil_set_main_group": {
|
| 444 |
+
"cls": "Accessory"
|
| 445 |
+
},
|
| 446 |
+
"paper_towel_main_group": {
|
| 447 |
+
"cls": "Accessory"
|
| 448 |
+
},
|
| 449 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 450 |
+
"cls": "Accessory"
|
| 451 |
+
},
|
| 452 |
+
"counter_1_front_group": {
|
| 453 |
+
"cls": "Counter"
|
| 454 |
+
},
|
| 455 |
+
"counter_corner_front_group": {
|
| 456 |
+
"cls": "Counter"
|
| 457 |
+
},
|
| 458 |
+
"counter_1_left_group": {
|
| 459 |
+
"cls": "Counter"
|
| 460 |
+
},
|
| 461 |
+
"stove_left_group": {
|
| 462 |
+
"cls": "Stove"
|
| 463 |
+
},
|
| 464 |
+
"counter_2_left_group": {
|
| 465 |
+
"cls": "Counter"
|
| 466 |
+
},
|
| 467 |
+
"counter_corner_left_group": {
|
| 468 |
+
"cls": "Counter"
|
| 469 |
+
},
|
| 470 |
+
"fridge_left_group": {
|
| 471 |
+
"cls": "FridgeFrenchDoor"
|
| 472 |
+
},
|
| 473 |
+
"fridge_housing_left_group": {
|
| 474 |
+
"cls": "HousingCabinet"
|
| 475 |
+
},
|
| 476 |
+
"stack_1_left_group_base": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
},
|
| 479 |
+
"stack_1_left_group_1": {
|
| 480 |
+
"cls": "SingleCabinet"
|
| 481 |
+
},
|
| 482 |
+
"stack_1_left_group_2": {
|
| 483 |
+
"cls": "Drawer"
|
| 484 |
+
},
|
| 485 |
+
"stack_2_left_group_base": {
|
| 486 |
+
"cls": "Box"
|
| 487 |
+
},
|
| 488 |
+
"stack_2_left_group_1": {
|
| 489 |
+
"cls": "SingleCabinet"
|
| 490 |
+
},
|
| 491 |
+
"stack_2_left_group_2": {
|
| 492 |
+
"cls": "Drawer"
|
| 493 |
+
},
|
| 494 |
+
"cab_1_left_group": {
|
| 495 |
+
"cls": "SingleCabinet"
|
| 496 |
+
},
|
| 497 |
+
"microwave_left_group": {
|
| 498 |
+
"cls": "Microwave"
|
| 499 |
+
},
|
| 500 |
+
"cab_micro_left_group": {
|
| 501 |
+
"cls": "HingeCabinet"
|
| 502 |
+
},
|
| 503 |
+
"cab_2_left_group": {
|
| 504 |
+
"cls": "SingleCabinet"
|
| 505 |
+
},
|
| 506 |
+
"cab_3_left_group": {
|
| 507 |
+
"cls": "HingeCabinet"
|
| 508 |
+
},
|
| 509 |
+
"coffee_machine_left_group": {
|
| 510 |
+
"cls": "CoffeeMachine"
|
| 511 |
+
},
|
| 512 |
+
"salt_shaker_left_group": {
|
| 513 |
+
"cls": "Accessory"
|
| 514 |
+
},
|
| 515 |
+
"salt_shaker_left_group_auxiliary_left_group": {
|
| 516 |
+
"cls": "Accessory"
|
| 517 |
+
},
|
| 518 |
+
"sink_right_group": {
|
| 519 |
+
"cls": "Sink"
|
| 520 |
+
},
|
| 521 |
+
"counter_1_right_group": {
|
| 522 |
+
"cls": "Counter"
|
| 523 |
+
},
|
| 524 |
+
"counter_corner_right_group": {
|
| 525 |
+
"cls": "Counter"
|
| 526 |
+
},
|
| 527 |
+
"counter_corner_2_right_group": {
|
| 528 |
+
"cls": "Counter"
|
| 529 |
+
},
|
| 530 |
+
"stack_1_right_group_base": {
|
| 531 |
+
"cls": "Box"
|
| 532 |
+
},
|
| 533 |
+
"stack_1_right_group_1": {
|
| 534 |
+
"cls": "HingeCabinet"
|
| 535 |
+
},
|
| 536 |
+
"stack_1_right_group_2": {
|
| 537 |
+
"cls": "PanelCabinet"
|
| 538 |
+
},
|
| 539 |
+
"dishwasher_right_group": {
|
| 540 |
+
"cls": "Dishwasher"
|
| 541 |
+
},
|
| 542 |
+
"stack_2_right_group_base": {
|
| 543 |
+
"cls": "Box"
|
| 544 |
+
},
|
| 545 |
+
"stack_2_right_group_1": {
|
| 546 |
+
"cls": "Drawer"
|
| 547 |
+
},
|
| 548 |
+
"stack_2_right_group_2": {
|
| 549 |
+
"cls": "Drawer"
|
| 550 |
+
},
|
| 551 |
+
"stack_2_right_group_3": {
|
| 552 |
+
"cls": "Drawer"
|
| 553 |
+
},
|
| 554 |
+
"stack_2_right_group_4": {
|
| 555 |
+
"cls": "Drawer"
|
| 556 |
+
},
|
| 557 |
+
"cab_1_right_group": {
|
| 558 |
+
"cls": "HingeCabinet"
|
| 559 |
+
},
|
| 560 |
+
"shelves_right_group": {
|
| 561 |
+
"cls": "OpenCabinet"
|
| 562 |
+
},
|
| 563 |
+
"flower_vase_right_group": {
|
| 564 |
+
"cls": "Accessory"
|
| 565 |
+
},
|
| 566 |
+
"soap_dispenser_right_group": {
|
| 567 |
+
"cls": "Accessory"
|
| 568 |
+
},
|
| 569 |
+
"glass_cup_right_group": {
|
| 570 |
+
"cls": "Accessory"
|
| 571 |
+
},
|
| 572 |
+
"glass_cup_2_right_group": {
|
| 573 |
+
"cls": "Accessory"
|
| 574 |
+
},
|
| 575 |
+
"paprika_right_group": {
|
| 576 |
+
"cls": "Accessory"
|
| 577 |
+
},
|
| 578 |
+
"cinnamon_right_group": {
|
| 579 |
+
"cls": "Accessory"
|
| 580 |
+
}
|
| 581 |
+
},
|
| 582 |
+
"gen_textures": {},
|
| 583 |
+
"lang": "Pick the chicken drumstick and lemon wedge from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 584 |
+
"fixture_refs": {
|
| 585 |
+
"stool1": "stool_1_room",
|
| 586 |
+
"stool2": "stool_2_room",
|
| 587 |
+
"dining_counter": "counter_1_front_group",
|
| 588 |
+
"fridge": "fridge_left_group"
|
| 589 |
+
},
|
| 590 |
+
"cam_configs": {
|
| 591 |
+
"robot0_agentview_center": {
|
| 592 |
+
"pos": [
|
| 593 |
+
-0.6,
|
| 594 |
+
0.0,
|
| 595 |
+
1.15
|
| 596 |
+
],
|
| 597 |
+
"quat": [
|
| 598 |
+
0.636945903301239,
|
| 599 |
+
0.3325185477733612,
|
| 600 |
+
-0.3199238181114197,
|
| 601 |
+
-0.6175596117973328
|
| 602 |
+
],
|
| 603 |
+
"parent_body": "mobilebase0_support"
|
| 604 |
+
},
|
| 605 |
+
"robot0_agentview_left": {
|
| 606 |
+
"pos": [
|
| 607 |
+
-0.5,
|
| 608 |
+
0.35,
|
| 609 |
+
1.05
|
| 610 |
+
],
|
| 611 |
+
"quat": [
|
| 612 |
+
0.55623853,
|
| 613 |
+
0.29935253,
|
| 614 |
+
-0.37678665,
|
| 615 |
+
-0.6775092
|
| 616 |
+
],
|
| 617 |
+
"camera_attribs": {
|
| 618 |
+
"fovy": "60"
|
| 619 |
+
},
|
| 620 |
+
"parent_body": "mobilebase0_support"
|
| 621 |
+
},
|
| 622 |
+
"robot0_agentview_right": {
|
| 623 |
+
"pos": [
|
| 624 |
+
-0.5,
|
| 625 |
+
-0.35,
|
| 626 |
+
1.05
|
| 627 |
+
],
|
| 628 |
+
"quat": [
|
| 629 |
+
0.6775091886520386,
|
| 630 |
+
0.3767866790294647,
|
| 631 |
+
-0.2993525564670563,
|
| 632 |
+
-0.55623859167099
|
| 633 |
+
],
|
| 634 |
+
"camera_attribs": {
|
| 635 |
+
"fovy": "60"
|
| 636 |
+
},
|
| 637 |
+
"parent_body": "mobilebase0_support"
|
| 638 |
+
},
|
| 639 |
+
"robot0_frontview": {
|
| 640 |
+
"pos": [
|
| 641 |
+
-0.5,
|
| 642 |
+
0,
|
| 643 |
+
0.95
|
| 644 |
+
],
|
| 645 |
+
"quat": [
|
| 646 |
+
0.6088936924934387,
|
| 647 |
+
0.3814677894115448,
|
| 648 |
+
-0.3673907518386841,
|
| 649 |
+
-0.5905545353889465
|
| 650 |
+
],
|
| 651 |
+
"camera_attribs": {
|
| 652 |
+
"fovy": "60"
|
| 653 |
+
},
|
| 654 |
+
"parent_body": "mobilebase0_support"
|
| 655 |
+
},
|
| 656 |
+
"robot0_eye_in_hand": {
|
| 657 |
+
"pos": [
|
| 658 |
+
0.05,
|
| 659 |
+
0,
|
| 660 |
+
0
|
| 661 |
+
],
|
| 662 |
+
"quat": [
|
| 663 |
+
0,
|
| 664 |
+
0.707107,
|
| 665 |
+
0.707107,
|
| 666 |
+
0
|
| 667 |
+
],
|
| 668 |
+
"parent_body": "robot0_right_hand"
|
| 669 |
+
}
|
| 670 |
+
},
|
| 671 |
+
"init_robot_base_pos": [
|
| 672 |
+
2.743397753404053,
|
| 673 |
+
-3.970243177468369,
|
| 674 |
+
0.0
|
| 675 |
+
],
|
| 676 |
+
"init_robot_base_ori": [
|
| 677 |
+
0.0,
|
| 678 |
+
0.0,
|
| 679 |
+
7.85388898038469
|
| 680 |
+
]
|
| 681 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000240/ep_meta.json
ADDED
|
@@ -0,0 +1,651 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.232802852625,
|
| 14 |
+
0.23286639915,
|
| 15 |
+
0.014759147025
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.24568749157499997,
|
| 98 |
+
0.24474791709000002,
|
| 99 |
+
0.03850276869
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"sweet_potato",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"oven_ready"
|
| 165 |
+
],
|
| 166 |
+
"groups": [
|
| 167 |
+
"vegetable"
|
| 168 |
+
],
|
| 169 |
+
"cat": "sweet_potato",
|
| 170 |
+
"split": "test",
|
| 171 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "bowl",
|
| 176 |
+
"obj_groups": "bowl",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"placement": {
|
| 179 |
+
"fixture": "island_island_group",
|
| 180 |
+
"sample_region_kwargs": {
|
| 181 |
+
"ref": "stool_2_room",
|
| 182 |
+
"min_size": [
|
| 183 |
+
0.2599940797999999,
|
| 184 |
+
0.2599929331999999,
|
| 185 |
+
0.08604590539999997
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"size": [
|
| 189 |
+
1.0,
|
| 190 |
+
0.4
|
| 191 |
+
],
|
| 192 |
+
"pos": [
|
| 193 |
+
"ref",
|
| 194 |
+
"ref"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"type": "object",
|
| 198 |
+
"info": {
|
| 199 |
+
"groups_containing_sampled_obj": [
|
| 200 |
+
"all",
|
| 201 |
+
"bowl",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"stackable",
|
| 204 |
+
"group1",
|
| 205 |
+
"container_set2"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"bowl"
|
| 209 |
+
],
|
| 210 |
+
"cat": "bowl",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
|
| 213 |
+
},
|
| 214 |
+
"reset_region": {
|
| 215 |
+
"size": [
|
| 216 |
+
2.4399842052305356,
|
| 217 |
+
1.6
|
| 218 |
+
],
|
| 219 |
+
"offset": [
|
| 220 |
+
0.005007897384732285,
|
| 221 |
+
0.0,
|
| 222 |
+
0.46
|
| 223 |
+
],
|
| 224 |
+
"name": "geom_0"
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"name": "distr1",
|
| 229 |
+
"fridgable": true,
|
| 230 |
+
"placement": {
|
| 231 |
+
"fixture": "fridge_main_group",
|
| 232 |
+
"size": [
|
| 233 |
+
0.3,
|
| 234 |
+
0.3
|
| 235 |
+
],
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.3,
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"type": "object",
|
| 242 |
+
"info": {
|
| 243 |
+
"groups_containing_sampled_obj": [
|
| 244 |
+
"all",
|
| 245 |
+
"sweet_potato",
|
| 246 |
+
"vegetable",
|
| 247 |
+
"food",
|
| 248 |
+
"in_container",
|
| 249 |
+
"oven_ready"
|
| 250 |
+
],
|
| 251 |
+
"groups": [
|
| 252 |
+
"all"
|
| 253 |
+
],
|
| 254 |
+
"cat": "sweet_potato",
|
| 255 |
+
"split": "test",
|
| 256 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
|
| 257 |
+
},
|
| 258 |
+
"reset_region": {
|
| 259 |
+
"offset": [
|
| 260 |
+
-0.0002632047656345171,
|
| 261 |
+
0.10788939929975168,
|
| 262 |
+
0.181412742979443
|
| 263 |
+
],
|
| 264 |
+
"size": [
|
| 265 |
+
0.7781439843759018,
|
| 266 |
+
0.5543220166326962
|
| 267 |
+
],
|
| 268 |
+
"name": "fridge_shelf0"
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
{
|
| 272 |
+
"name": "distr2",
|
| 273 |
+
"fridgable": true,
|
| 274 |
+
"placement": {
|
| 275 |
+
"fixture": "fridge_main_group",
|
| 276 |
+
"size": [
|
| 277 |
+
0.3,
|
| 278 |
+
0.3
|
| 279 |
+
],
|
| 280 |
+
"pos": [
|
| 281 |
+
0.3,
|
| 282 |
+
1.0
|
| 283 |
+
]
|
| 284 |
+
},
|
| 285 |
+
"type": "object",
|
| 286 |
+
"info": {
|
| 287 |
+
"groups_containing_sampled_obj": [
|
| 288 |
+
"all",
|
| 289 |
+
"pitcher",
|
| 290 |
+
"receptacle"
|
| 291 |
+
],
|
| 292 |
+
"groups": [
|
| 293 |
+
"all"
|
| 294 |
+
],
|
| 295 |
+
"cat": "pitcher",
|
| 296 |
+
"split": "test",
|
| 297 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher013/model.xml"
|
| 298 |
+
},
|
| 299 |
+
"reset_region": {
|
| 300 |
+
"offset": [
|
| 301 |
+
-0.0002632047656345171,
|
| 302 |
+
0.10788939929975168,
|
| 303 |
+
0.181412742979443
|
| 304 |
+
],
|
| 305 |
+
"size": [
|
| 306 |
+
0.7781439843759018,
|
| 307 |
+
0.5543220166326962
|
| 308 |
+
],
|
| 309 |
+
"name": "fridge_shelf0"
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
],
|
| 313 |
+
"fixtures": {
|
| 314 |
+
"wall_room": {
|
| 315 |
+
"cls": "Wall"
|
| 316 |
+
},
|
| 317 |
+
"wall_backing_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_left_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"wall_left_backing_room": {
|
| 324 |
+
"cls": "Wall"
|
| 325 |
+
},
|
| 326 |
+
"outlet_room": {
|
| 327 |
+
"cls": "WallAccessory"
|
| 328 |
+
},
|
| 329 |
+
"outlet_2_room": {
|
| 330 |
+
"cls": "WallAccessory"
|
| 331 |
+
},
|
| 332 |
+
"light_switch_room": {
|
| 333 |
+
"cls": "WallAccessory"
|
| 334 |
+
},
|
| 335 |
+
"light_switch_2_room": {
|
| 336 |
+
"cls": "WallAccessory"
|
| 337 |
+
},
|
| 338 |
+
"window_group_room": {
|
| 339 |
+
"cls": "Window"
|
| 340 |
+
},
|
| 341 |
+
"floor_room": {
|
| 342 |
+
"cls": "Floor"
|
| 343 |
+
},
|
| 344 |
+
"floor_backing_room": {
|
| 345 |
+
"cls": "Floor"
|
| 346 |
+
},
|
| 347 |
+
"stool_1_room": {
|
| 348 |
+
"cls": "Stool"
|
| 349 |
+
},
|
| 350 |
+
"stool_2_room": {
|
| 351 |
+
"cls": "Stool"
|
| 352 |
+
},
|
| 353 |
+
"stool_3_room": {
|
| 354 |
+
"cls": "Stool"
|
| 355 |
+
},
|
| 356 |
+
"counter_corner_main_main_group": {
|
| 357 |
+
"cls": "Counter"
|
| 358 |
+
},
|
| 359 |
+
"counter_main_main_group": {
|
| 360 |
+
"cls": "Counter"
|
| 361 |
+
},
|
| 362 |
+
"stovetop_main_group": {
|
| 363 |
+
"cls": "Stovetop"
|
| 364 |
+
},
|
| 365 |
+
"counter_1_right_main_group": {
|
| 366 |
+
"cls": "Counter"
|
| 367 |
+
},
|
| 368 |
+
"fridge_main_group": {
|
| 369 |
+
"cls": "FridgeFrenchDoor"
|
| 370 |
+
},
|
| 371 |
+
"fridge_housing_main_group": {
|
| 372 |
+
"cls": "HousingCabinet"
|
| 373 |
+
},
|
| 374 |
+
"stack_1_main_group_base": {
|
| 375 |
+
"cls": "Box"
|
| 376 |
+
},
|
| 377 |
+
"stack_1_main_group_1": {
|
| 378 |
+
"cls": "Drawer"
|
| 379 |
+
},
|
| 380 |
+
"stack_1_main_group_2": {
|
| 381 |
+
"cls": "Drawer"
|
| 382 |
+
},
|
| 383 |
+
"stack_1_main_group_3": {
|
| 384 |
+
"cls": "Drawer"
|
| 385 |
+
},
|
| 386 |
+
"stack_1_main_group_4": {
|
| 387 |
+
"cls": "Drawer"
|
| 388 |
+
},
|
| 389 |
+
"stack_2_main_group_base": {
|
| 390 |
+
"cls": "Box"
|
| 391 |
+
},
|
| 392 |
+
"stack_2_main_group_1": {
|
| 393 |
+
"cls": "HingeCabinet"
|
| 394 |
+
},
|
| 395 |
+
"stack_2_main_group_2": {
|
| 396 |
+
"cls": "PanelCabinet"
|
| 397 |
+
},
|
| 398 |
+
"stack_3_main_group_base": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"stack_3_main_group_1": {
|
| 402 |
+
"cls": "HingeCabinet"
|
| 403 |
+
},
|
| 404 |
+
"stack_3_main_group_2": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"stack_3_main_group_3": {
|
| 408 |
+
"cls": "Drawer"
|
| 409 |
+
},
|
| 410 |
+
"hood_main_group": {
|
| 411 |
+
"cls": "Hood"
|
| 412 |
+
},
|
| 413 |
+
"cab_main_main_group": {
|
| 414 |
+
"cls": "HingeCabinet"
|
| 415 |
+
},
|
| 416 |
+
"shelves_main_group": {
|
| 417 |
+
"cls": "OpenCabinet"
|
| 418 |
+
},
|
| 419 |
+
"fridge_cab_main_group": {
|
| 420 |
+
"cls": "HingeCabinet"
|
| 421 |
+
},
|
| 422 |
+
"paper_towel_main_group": {
|
| 423 |
+
"cls": "Accessory"
|
| 424 |
+
},
|
| 425 |
+
"knife_block_main_group": {
|
| 426 |
+
"cls": "Accessory"
|
| 427 |
+
},
|
| 428 |
+
"toaster_main_group": {
|
| 429 |
+
"cls": "Toaster"
|
| 430 |
+
},
|
| 431 |
+
"utensil_set_main_group": {
|
| 432 |
+
"cls": "Accessory"
|
| 433 |
+
},
|
| 434 |
+
"toaster_oven_main_group": {
|
| 435 |
+
"cls": "ToasterOven"
|
| 436 |
+
},
|
| 437 |
+
"jar_main_group": {
|
| 438 |
+
"cls": "Accessory"
|
| 439 |
+
},
|
| 440 |
+
"jar_2_main_group": {
|
| 441 |
+
"cls": "Accessory"
|
| 442 |
+
},
|
| 443 |
+
"glass_cup_main_group": {
|
| 444 |
+
"cls": "Accessory"
|
| 445 |
+
},
|
| 446 |
+
"glass_cup_2_main_group": {
|
| 447 |
+
"cls": "Accessory"
|
| 448 |
+
},
|
| 449 |
+
"jar_main_group_auxiliary_main_group": {
|
| 450 |
+
"cls": "Accessory"
|
| 451 |
+
},
|
| 452 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 453 |
+
"cls": "Accessory"
|
| 454 |
+
},
|
| 455 |
+
"cab_1_left_group": {
|
| 456 |
+
"cls": "SingleCabinet"
|
| 457 |
+
},
|
| 458 |
+
"cab_2_left_group": {
|
| 459 |
+
"cls": "SingleCabinet"
|
| 460 |
+
},
|
| 461 |
+
"cab_corner_3_left_group": {
|
| 462 |
+
"cls": "Box"
|
| 463 |
+
},
|
| 464 |
+
"cab_corner_4_left_group": {
|
| 465 |
+
"cls": "Box"
|
| 466 |
+
},
|
| 467 |
+
"sink_left_group": {
|
| 468 |
+
"cls": "Sink"
|
| 469 |
+
},
|
| 470 |
+
"counter_1_left_left_group": {
|
| 471 |
+
"cls": "Counter"
|
| 472 |
+
},
|
| 473 |
+
"counter_corner_left_group": {
|
| 474 |
+
"cls": "Counter"
|
| 475 |
+
},
|
| 476 |
+
"bottom_left_group_base": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
},
|
| 479 |
+
"bottom_left_group_1": {
|
| 480 |
+
"cls": "Drawer"
|
| 481 |
+
},
|
| 482 |
+
"bottom_left_group_2": {
|
| 483 |
+
"cls": "Drawer"
|
| 484 |
+
},
|
| 485 |
+
"oven_left_group": {
|
| 486 |
+
"cls": "Oven"
|
| 487 |
+
},
|
| 488 |
+
"oven_housing_left_group": {
|
| 489 |
+
"cls": "HousingCabinet"
|
| 490 |
+
},
|
| 491 |
+
"microwave_left_group": {
|
| 492 |
+
"cls": "Microwave"
|
| 493 |
+
},
|
| 494 |
+
"micro_housing_left_group": {
|
| 495 |
+
"cls": "HousingCabinet"
|
| 496 |
+
},
|
| 497 |
+
"top_left_group": {
|
| 498 |
+
"cls": "HingeCabinet"
|
| 499 |
+
},
|
| 500 |
+
"stack_1_left_group": {
|
| 501 |
+
"cls": "SingleCabinet"
|
| 502 |
+
},
|
| 503 |
+
"dishwasher_left_group": {
|
| 504 |
+
"cls": "Dishwasher"
|
| 505 |
+
},
|
| 506 |
+
"stack_2_left_group_base": {
|
| 507 |
+
"cls": "Box"
|
| 508 |
+
},
|
| 509 |
+
"stack_2_left_group_1": {
|
| 510 |
+
"cls": "HingeCabinet"
|
| 511 |
+
},
|
| 512 |
+
"stack_2_left_group_2": {
|
| 513 |
+
"cls": "PanelCabinet"
|
| 514 |
+
},
|
| 515 |
+
"stack_3_left_group_base": {
|
| 516 |
+
"cls": "Box"
|
| 517 |
+
},
|
| 518 |
+
"stack_3_left_group_1": {
|
| 519 |
+
"cls": "HingeCabinet"
|
| 520 |
+
},
|
| 521 |
+
"stack_3_left_group_2": {
|
| 522 |
+
"cls": "Drawer"
|
| 523 |
+
},
|
| 524 |
+
"stack_3_left_group_3": {
|
| 525 |
+
"cls": "Drawer"
|
| 526 |
+
},
|
| 527 |
+
"coffee_machine_left_group": {
|
| 528 |
+
"cls": "CoffeeMachine"
|
| 529 |
+
},
|
| 530 |
+
"soap_dispenser_left_group": {
|
| 531 |
+
"cls": "Accessory"
|
| 532 |
+
},
|
| 533 |
+
"tiered_basket_left_group": {
|
| 534 |
+
"cls": "Accessory"
|
| 535 |
+
},
|
| 536 |
+
"island_island_group": {
|
| 537 |
+
"cls": "Counter"
|
| 538 |
+
},
|
| 539 |
+
"plant_island_group": {
|
| 540 |
+
"cls": "Accessory"
|
| 541 |
+
},
|
| 542 |
+
"fruit_bowl_island_group": {
|
| 543 |
+
"cls": "Accessory"
|
| 544 |
+
},
|
| 545 |
+
"salt_shaker_island_group": {
|
| 546 |
+
"cls": "Accessory"
|
| 547 |
+
},
|
| 548 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 549 |
+
"cls": "Accessory"
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"gen_textures": {},
|
| 553 |
+
"lang": "Pick the chicken drumstick and sweet potato from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 554 |
+
"fixture_refs": {
|
| 555 |
+
"stool1": "stool_1_room",
|
| 556 |
+
"stool2": "stool_2_room",
|
| 557 |
+
"dining_counter": "island_island_group",
|
| 558 |
+
"fridge": "fridge_main_group"
|
| 559 |
+
},
|
| 560 |
+
"cam_configs": {
|
| 561 |
+
"robot0_agentview_center": {
|
| 562 |
+
"pos": [
|
| 563 |
+
-0.6,
|
| 564 |
+
0.0,
|
| 565 |
+
1.15
|
| 566 |
+
],
|
| 567 |
+
"quat": [
|
| 568 |
+
0.636945903301239,
|
| 569 |
+
0.3325185477733612,
|
| 570 |
+
-0.3199238181114197,
|
| 571 |
+
-0.6175596117973328
|
| 572 |
+
],
|
| 573 |
+
"parent_body": "mobilebase0_support"
|
| 574 |
+
},
|
| 575 |
+
"robot0_agentview_left": {
|
| 576 |
+
"pos": [
|
| 577 |
+
-0.5,
|
| 578 |
+
0.35,
|
| 579 |
+
1.05
|
| 580 |
+
],
|
| 581 |
+
"quat": [
|
| 582 |
+
0.55623853,
|
| 583 |
+
0.29935253,
|
| 584 |
+
-0.37678665,
|
| 585 |
+
-0.6775092
|
| 586 |
+
],
|
| 587 |
+
"camera_attribs": {
|
| 588 |
+
"fovy": "60"
|
| 589 |
+
},
|
| 590 |
+
"parent_body": "mobilebase0_support"
|
| 591 |
+
},
|
| 592 |
+
"robot0_agentview_right": {
|
| 593 |
+
"pos": [
|
| 594 |
+
-0.5,
|
| 595 |
+
-0.35,
|
| 596 |
+
1.05
|
| 597 |
+
],
|
| 598 |
+
"quat": [
|
| 599 |
+
0.6775091886520386,
|
| 600 |
+
0.3767866790294647,
|
| 601 |
+
-0.2993525564670563,
|
| 602 |
+
-0.55623859167099
|
| 603 |
+
],
|
| 604 |
+
"camera_attribs": {
|
| 605 |
+
"fovy": "60"
|
| 606 |
+
},
|
| 607 |
+
"parent_body": "mobilebase0_support"
|
| 608 |
+
},
|
| 609 |
+
"robot0_frontview": {
|
| 610 |
+
"pos": [
|
| 611 |
+
-0.5,
|
| 612 |
+
0,
|
| 613 |
+
0.95
|
| 614 |
+
],
|
| 615 |
+
"quat": [
|
| 616 |
+
0.6088936924934387,
|
| 617 |
+
0.3814677894115448,
|
| 618 |
+
-0.3673907518386841,
|
| 619 |
+
-0.5905545353889465
|
| 620 |
+
],
|
| 621 |
+
"camera_attribs": {
|
| 622 |
+
"fovy": "60"
|
| 623 |
+
},
|
| 624 |
+
"parent_body": "mobilebase0_support"
|
| 625 |
+
},
|
| 626 |
+
"robot0_eye_in_hand": {
|
| 627 |
+
"pos": [
|
| 628 |
+
0.05,
|
| 629 |
+
0,
|
| 630 |
+
0
|
| 631 |
+
],
|
| 632 |
+
"quat": [
|
| 633 |
+
0,
|
| 634 |
+
0.707107,
|
| 635 |
+
0.707107,
|
| 636 |
+
0
|
| 637 |
+
],
|
| 638 |
+
"parent_body": "robot0_right_hand"
|
| 639 |
+
}
|
| 640 |
+
},
|
| 641 |
+
"init_robot_base_pos": [
|
| 642 |
+
3.9973481894178624,
|
| 643 |
+
-3.0799501512004808,
|
| 644 |
+
0.0
|
| 645 |
+
],
|
| 646 |
+
"init_robot_base_ori": [
|
| 647 |
+
0.0,
|
| 648 |
+
0.0,
|
| 649 |
+
3.1415889803846895
|
| 650 |
+
]
|
| 651 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000254/ep_meta.json
ADDED
|
@@ -0,0 +1,811 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.24720248007000004,
|
| 14 |
+
0.24572606796000004,
|
| 15 |
+
0.012934327725
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
0.4976678600342783,
|
| 47 |
+
1.55
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.649935139697214,
|
| 51 |
+
2.0816681711721685e-17,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.24568749157499997,
|
| 98 |
+
0.24474791709000002,
|
| 99 |
+
0.03850276869
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
0.8020727043346244,
|
| 131 |
+
0.9350000000000002
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-6.48575127626394e-05,
|
| 135 |
+
0.3075,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"tomato",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"vegetable"
|
| 167 |
+
],
|
| 168 |
+
"cat": "tomato",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml"
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"name": "bowl",
|
| 175 |
+
"obj_groups": "bowl",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"placement": {
|
| 178 |
+
"fixture": "island_island_group",
|
| 179 |
+
"sample_region_kwargs": {
|
| 180 |
+
"ref": "stool_2_room",
|
| 181 |
+
"min_size": [
|
| 182 |
+
0.22999947099999987,
|
| 183 |
+
0.22999348179999984,
|
| 184 |
+
0.06689473639999997
|
| 185 |
+
]
|
| 186 |
+
},
|
| 187 |
+
"size": [
|
| 188 |
+
1.0,
|
| 189 |
+
0.4
|
| 190 |
+
],
|
| 191 |
+
"pos": [
|
| 192 |
+
"ref",
|
| 193 |
+
"ref"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"type": "object",
|
| 197 |
+
"info": {
|
| 198 |
+
"groups_containing_sampled_obj": [
|
| 199 |
+
"all",
|
| 200 |
+
"bowl",
|
| 201 |
+
"stackable",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"group1",
|
| 204 |
+
"container_set2"
|
| 205 |
+
],
|
| 206 |
+
"groups": [
|
| 207 |
+
"bowl"
|
| 208 |
+
],
|
| 209 |
+
"cat": "bowl",
|
| 210 |
+
"split": "test",
|
| 211 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
|
| 212 |
+
},
|
| 213 |
+
"reset_region": {
|
| 214 |
+
"size": [
|
| 215 |
+
0.8020727043346244,
|
| 216 |
+
0.9350000000000002
|
| 217 |
+
],
|
| 218 |
+
"offset": [
|
| 219 |
+
-6.48575127626394e-05,
|
| 220 |
+
0.3075,
|
| 221 |
+
0.46
|
| 222 |
+
],
|
| 223 |
+
"name": "geom_0"
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "distr1",
|
| 228 |
+
"fridgable": true,
|
| 229 |
+
"placement": {
|
| 230 |
+
"fixture": "fridge_right_group",
|
| 231 |
+
"size": [
|
| 232 |
+
0.3,
|
| 233 |
+
0.3
|
| 234 |
+
],
|
| 235 |
+
"pos": [
|
| 236 |
+
-0.3,
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"type": "object",
|
| 241 |
+
"info": {
|
| 242 |
+
"groups_containing_sampled_obj": [
|
| 243 |
+
"all",
|
| 244 |
+
"cucumber",
|
| 245 |
+
"vegetable",
|
| 246 |
+
"food",
|
| 247 |
+
"in_container",
|
| 248 |
+
"food_set1"
|
| 249 |
+
],
|
| 250 |
+
"groups": [
|
| 251 |
+
"all"
|
| 252 |
+
],
|
| 253 |
+
"cat": "cucumber",
|
| 254 |
+
"split": "test",
|
| 255 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
|
| 256 |
+
},
|
| 257 |
+
"reset_region": {
|
| 258 |
+
"offset": [
|
| 259 |
+
0.17648921902301634,
|
| 260 |
+
0.09431713873401872,
|
| 261 |
+
0.1835105829355773
|
| 262 |
+
],
|
| 263 |
+
"size": [
|
| 264 |
+
0.4128378194384873,
|
| 265 |
+
0.5356103330552707
|
| 266 |
+
],
|
| 267 |
+
"name": "fridge_shelf1"
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"name": "distr2",
|
| 272 |
+
"fridgable": true,
|
| 273 |
+
"placement": {
|
| 274 |
+
"fixture": "fridge_right_group",
|
| 275 |
+
"size": [
|
| 276 |
+
0.3,
|
| 277 |
+
0.3
|
| 278 |
+
],
|
| 279 |
+
"pos": [
|
| 280 |
+
0.3,
|
| 281 |
+
1.0
|
| 282 |
+
]
|
| 283 |
+
},
|
| 284 |
+
"type": "object",
|
| 285 |
+
"info": {
|
| 286 |
+
"groups_containing_sampled_obj": [
|
| 287 |
+
"all",
|
| 288 |
+
"garlic",
|
| 289 |
+
"vegetable",
|
| 290 |
+
"food",
|
| 291 |
+
"in_container"
|
| 292 |
+
],
|
| 293 |
+
"groups": [
|
| 294 |
+
"all"
|
| 295 |
+
],
|
| 296 |
+
"cat": "garlic",
|
| 297 |
+
"split": "test",
|
| 298 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
|
| 299 |
+
},
|
| 300 |
+
"reset_region": {
|
| 301 |
+
"offset": [
|
| 302 |
+
0.17648921902301634,
|
| 303 |
+
0.09444338166204168,
|
| 304 |
+
0.5092108047621914
|
| 305 |
+
],
|
| 306 |
+
"size": [
|
| 307 |
+
0.4128378194384873,
|
| 308 |
+
0.5358628189113166
|
| 309 |
+
],
|
| 310 |
+
"name": "fridge_shelf2"
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"fixtures": {
|
| 315 |
+
"wall_room": {
|
| 316 |
+
"cls": "Wall"
|
| 317 |
+
},
|
| 318 |
+
"wall_backing_room": {
|
| 319 |
+
"cls": "Wall"
|
| 320 |
+
},
|
| 321 |
+
"wall_left_room": {
|
| 322 |
+
"cls": "Wall"
|
| 323 |
+
},
|
| 324 |
+
"wall_left_backing_room": {
|
| 325 |
+
"cls": "Wall"
|
| 326 |
+
},
|
| 327 |
+
"wall_right_room": {
|
| 328 |
+
"cls": "Wall"
|
| 329 |
+
},
|
| 330 |
+
"wall_right_backing_room": {
|
| 331 |
+
"cls": "Wall"
|
| 332 |
+
},
|
| 333 |
+
"floor_room": {
|
| 334 |
+
"cls": "Floor"
|
| 335 |
+
},
|
| 336 |
+
"floor_backing_room": {
|
| 337 |
+
"cls": "Floor"
|
| 338 |
+
},
|
| 339 |
+
"utensil_rack_room": {
|
| 340 |
+
"cls": "WallAccessory"
|
| 341 |
+
},
|
| 342 |
+
"light_switch_room": {
|
| 343 |
+
"cls": "WallAccessory"
|
| 344 |
+
},
|
| 345 |
+
"light_switch_2_room": {
|
| 346 |
+
"cls": "WallAccessory"
|
| 347 |
+
},
|
| 348 |
+
"outlet_room": {
|
| 349 |
+
"cls": "WallAccessory"
|
| 350 |
+
},
|
| 351 |
+
"outlet_2_room": {
|
| 352 |
+
"cls": "WallAccessory"
|
| 353 |
+
},
|
| 354 |
+
"outlet_3_room": {
|
| 355 |
+
"cls": "WallAccessory"
|
| 356 |
+
},
|
| 357 |
+
"window_group_room": {
|
| 358 |
+
"cls": "Window"
|
| 359 |
+
},
|
| 360 |
+
"stool_1_room": {
|
| 361 |
+
"cls": "Stool"
|
| 362 |
+
},
|
| 363 |
+
"stool_2_room": {
|
| 364 |
+
"cls": "Stool"
|
| 365 |
+
},
|
| 366 |
+
"stool_3_room": {
|
| 367 |
+
"cls": "Stool"
|
| 368 |
+
},
|
| 369 |
+
"counter_corner_main_group": {
|
| 370 |
+
"cls": "Counter"
|
| 371 |
+
},
|
| 372 |
+
"counter_1_main_group": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
+
},
|
| 375 |
+
"stovetop_main_group": {
|
| 376 |
+
"cls": "Stovetop"
|
| 377 |
+
},
|
| 378 |
+
"counter_main_main_group": {
|
| 379 |
+
"cls": "Counter"
|
| 380 |
+
},
|
| 381 |
+
"counter_corner_2_main_group": {
|
| 382 |
+
"cls": "Counter"
|
| 383 |
+
},
|
| 384 |
+
"cab_corner_main_group": {
|
| 385 |
+
"cls": "Box"
|
| 386 |
+
},
|
| 387 |
+
"cab_corner_2_main_group": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"cab_1_main_group": {
|
| 391 |
+
"cls": "SingleCabinet"
|
| 392 |
+
},
|
| 393 |
+
"hood_main_group": {
|
| 394 |
+
"cls": "Hood"
|
| 395 |
+
},
|
| 396 |
+
"shelves_main_group": {
|
| 397 |
+
"cls": "OpenCabinet"
|
| 398 |
+
},
|
| 399 |
+
"cab_main_main_group": {
|
| 400 |
+
"cls": "SingleCabinet"
|
| 401 |
+
},
|
| 402 |
+
"cab_corner_3_main_group": {
|
| 403 |
+
"cls": "Box"
|
| 404 |
+
},
|
| 405 |
+
"cab_corner_4_main_group": {
|
| 406 |
+
"cls": "Box"
|
| 407 |
+
},
|
| 408 |
+
"stack_1_main_group_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_1_main_group_1": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
+
"stack_1_main_group_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
+
"stack_1_main_group_3": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
+
},
|
| 420 |
+
"stack_2_main_group_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
+
"stack_2_main_group_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
+
"stack_2_main_group_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"stack_2_main_group_3": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
+
},
|
| 432 |
+
"stack_3_main_group_base": {
|
| 433 |
+
"cls": "Box"
|
| 434 |
+
},
|
| 435 |
+
"stack_3_main_group_1": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
+
"stack_3_main_group_2": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
+
},
|
| 441 |
+
"stack_3_main_group_3": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
+
"stack_3_main_group_4": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"stack_4_main_group_base": {
|
| 448 |
+
"cls": "Box"
|
| 449 |
+
},
|
| 450 |
+
"stack_4_main_group_1": {
|
| 451 |
+
"cls": "HingeCabinet"
|
| 452 |
+
},
|
| 453 |
+
"stack_5_main_group_base": {
|
| 454 |
+
"cls": "Box"
|
| 455 |
+
},
|
| 456 |
+
"stack_5_main_group_1": {
|
| 457 |
+
"cls": "HingeCabinet"
|
| 458 |
+
},
|
| 459 |
+
"stack_5_main_group_2": {
|
| 460 |
+
"cls": "Drawer"
|
| 461 |
+
},
|
| 462 |
+
"stack_5_main_group_3": {
|
| 463 |
+
"cls": "Drawer"
|
| 464 |
+
},
|
| 465 |
+
"stack_6_main_group_base": {
|
| 466 |
+
"cls": "Box"
|
| 467 |
+
},
|
| 468 |
+
"stack_6_main_group_1": {
|
| 469 |
+
"cls": "SingleCabinet"
|
| 470 |
+
},
|
| 471 |
+
"stack_6_main_group_2": {
|
| 472 |
+
"cls": "Drawer"
|
| 473 |
+
},
|
| 474 |
+
"knife_block_main_group": {
|
| 475 |
+
"cls": "Accessory"
|
| 476 |
+
},
|
| 477 |
+
"paper_towel_main_group": {
|
| 478 |
+
"cls": "Accessory"
|
| 479 |
+
},
|
| 480 |
+
"utensil_set_main_group": {
|
| 481 |
+
"cls": "Accessory"
|
| 482 |
+
},
|
| 483 |
+
"oil_bottle_main_group": {
|
| 484 |
+
"cls": "Accessory"
|
| 485 |
+
},
|
| 486 |
+
"glass_cup_main_group": {
|
| 487 |
+
"cls": "Accessory"
|
| 488 |
+
},
|
| 489 |
+
"glass_cup_2_main_group": {
|
| 490 |
+
"cls": "Accessory"
|
| 491 |
+
},
|
| 492 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 493 |
+
"cls": "Accessory"
|
| 494 |
+
},
|
| 495 |
+
"sink_island_group": {
|
| 496 |
+
"cls": "Sink"
|
| 497 |
+
},
|
| 498 |
+
"island_island_group": {
|
| 499 |
+
"cls": "Counter"
|
| 500 |
+
},
|
| 501 |
+
"island_stack_1_island_group_base": {
|
| 502 |
+
"cls": "Box"
|
| 503 |
+
},
|
| 504 |
+
"island_stack_1_island_group_1": {
|
| 505 |
+
"cls": "HingeCabinet"
|
| 506 |
+
},
|
| 507 |
+
"island_stack_1_island_group_2": {
|
| 508 |
+
"cls": "PanelCabinet"
|
| 509 |
+
},
|
| 510 |
+
"dishwasher_island_group": {
|
| 511 |
+
"cls": "Dishwasher"
|
| 512 |
+
},
|
| 513 |
+
"island_panel_cab_right_island_group_base": {
|
| 514 |
+
"cls": "Box"
|
| 515 |
+
},
|
| 516 |
+
"island_panel_cab_right_island_group_1": {
|
| 517 |
+
"cls": "PanelCabinet"
|
| 518 |
+
},
|
| 519 |
+
"island_cab_right_island_group_base": {
|
| 520 |
+
"cls": "Box"
|
| 521 |
+
},
|
| 522 |
+
"island_cab_right_island_group_1": {
|
| 523 |
+
"cls": "Drawer"
|
| 524 |
+
},
|
| 525 |
+
"island_cab_right_island_group_2": {
|
| 526 |
+
"cls": "Drawer"
|
| 527 |
+
},
|
| 528 |
+
"island_cab_right_island_group_3": {
|
| 529 |
+
"cls": "Drawer"
|
| 530 |
+
},
|
| 531 |
+
"island_cab_right_island_group_4": {
|
| 532 |
+
"cls": "Drawer"
|
| 533 |
+
},
|
| 534 |
+
"island_panel_cab_left_island_group_base": {
|
| 535 |
+
"cls": "Box"
|
| 536 |
+
},
|
| 537 |
+
"island_panel_cab_left_island_group_1": {
|
| 538 |
+
"cls": "PanelCabinet"
|
| 539 |
+
},
|
| 540 |
+
"island_base_box_island_group": {
|
| 541 |
+
"cls": "Box"
|
| 542 |
+
},
|
| 543 |
+
"plant_island_group": {
|
| 544 |
+
"cls": "Accessory"
|
| 545 |
+
},
|
| 546 |
+
"soap_dispenser_island_group": {
|
| 547 |
+
"cls": "Accessory"
|
| 548 |
+
},
|
| 549 |
+
"fruit_bowl_island_group": {
|
| 550 |
+
"cls": "Accessory"
|
| 551 |
+
},
|
| 552 |
+
"salt_shaker_island_group": {
|
| 553 |
+
"cls": "Accessory"
|
| 554 |
+
},
|
| 555 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 556 |
+
"cls": "Accessory"
|
| 557 |
+
},
|
| 558 |
+
"counter_1_left_group": {
|
| 559 |
+
"cls": "Counter"
|
| 560 |
+
},
|
| 561 |
+
"counter_corner_left_group": {
|
| 562 |
+
"cls": "Counter"
|
| 563 |
+
},
|
| 564 |
+
"bottom_left_group_base": {
|
| 565 |
+
"cls": "Box"
|
| 566 |
+
},
|
| 567 |
+
"bottom_left_group_1": {
|
| 568 |
+
"cls": "Drawer"
|
| 569 |
+
},
|
| 570 |
+
"bottom_left_group_2": {
|
| 571 |
+
"cls": "Drawer"
|
| 572 |
+
},
|
| 573 |
+
"oven_left_group": {
|
| 574 |
+
"cls": "Oven"
|
| 575 |
+
},
|
| 576 |
+
"oven_housing_left_group": {
|
| 577 |
+
"cls": "HousingCabinet"
|
| 578 |
+
},
|
| 579 |
+
"microwave_left_group": {
|
| 580 |
+
"cls": "Microwave"
|
| 581 |
+
},
|
| 582 |
+
"micro_housing_left_group": {
|
| 583 |
+
"cls": "HousingCabinet"
|
| 584 |
+
},
|
| 585 |
+
"top_left_group": {
|
| 586 |
+
"cls": "HingeCabinet"
|
| 587 |
+
},
|
| 588 |
+
"stack_1_left_group_base": {
|
| 589 |
+
"cls": "Box"
|
| 590 |
+
},
|
| 591 |
+
"stack_1_left_group_1": {
|
| 592 |
+
"cls": "SingleCabinet"
|
| 593 |
+
},
|
| 594 |
+
"stack_1_left_group_2": {
|
| 595 |
+
"cls": "Drawer"
|
| 596 |
+
},
|
| 597 |
+
"stack_2_left_group_base": {
|
| 598 |
+
"cls": "Box"
|
| 599 |
+
},
|
| 600 |
+
"stack_2_left_group_1": {
|
| 601 |
+
"cls": "HingeCabinet"
|
| 602 |
+
},
|
| 603 |
+
"stack_2_left_group_2": {
|
| 604 |
+
"cls": "Drawer"
|
| 605 |
+
},
|
| 606 |
+
"stack_2_left_group_3": {
|
| 607 |
+
"cls": "Drawer"
|
| 608 |
+
},
|
| 609 |
+
"stack_3_left_group_base": {
|
| 610 |
+
"cls": "Box"
|
| 611 |
+
},
|
| 612 |
+
"stack_3_left_group_1": {
|
| 613 |
+
"cls": "Drawer"
|
| 614 |
+
},
|
| 615 |
+
"stack_3_left_group_2": {
|
| 616 |
+
"cls": "Drawer"
|
| 617 |
+
},
|
| 618 |
+
"stack_3_left_group_3": {
|
| 619 |
+
"cls": "Drawer"
|
| 620 |
+
},
|
| 621 |
+
"stack_3_left_group_4": {
|
| 622 |
+
"cls": "Drawer"
|
| 623 |
+
},
|
| 624 |
+
"shelves_left_group": {
|
| 625 |
+
"cls": "OpenCabinet"
|
| 626 |
+
},
|
| 627 |
+
"cab_2_left_group": {
|
| 628 |
+
"cls": "SingleCabinet"
|
| 629 |
+
},
|
| 630 |
+
"toaster_oven_left_group": {
|
| 631 |
+
"cls": "ToasterOven"
|
| 632 |
+
},
|
| 633 |
+
"paprika_left_group": {
|
| 634 |
+
"cls": "Accessory"
|
| 635 |
+
},
|
| 636 |
+
"cinnamon_left_group": {
|
| 637 |
+
"cls": "Accessory"
|
| 638 |
+
},
|
| 639 |
+
"turmeric_left_group": {
|
| 640 |
+
"cls": "Accessory"
|
| 641 |
+
},
|
| 642 |
+
"jar_left_group": {
|
| 643 |
+
"cls": "Accessory"
|
| 644 |
+
},
|
| 645 |
+
"jar_left_group_auxiliary_left_group": {
|
| 646 |
+
"cls": "Accessory"
|
| 647 |
+
},
|
| 648 |
+
"counter_1_right_group": {
|
| 649 |
+
"cls": "Counter"
|
| 650 |
+
},
|
| 651 |
+
"counter_corner_right_group": {
|
| 652 |
+
"cls": "Counter"
|
| 653 |
+
},
|
| 654 |
+
"fridge_right_group": {
|
| 655 |
+
"cls": "FridgeSideBySide"
|
| 656 |
+
},
|
| 657 |
+
"fridge_housing_right_group": {
|
| 658 |
+
"cls": "HousingCabinet"
|
| 659 |
+
},
|
| 660 |
+
"stack_1_right_group_base": {
|
| 661 |
+
"cls": "Box"
|
| 662 |
+
},
|
| 663 |
+
"stack_1_right_group_1": {
|
| 664 |
+
"cls": "HingeCabinet"
|
| 665 |
+
},
|
| 666 |
+
"stack_1_right_group_2": {
|
| 667 |
+
"cls": "Drawer"
|
| 668 |
+
},
|
| 669 |
+
"stack_1_right_group_3": {
|
| 670 |
+
"cls": "Drawer"
|
| 671 |
+
},
|
| 672 |
+
"stack_2_right_group_base": {
|
| 673 |
+
"cls": "Box"
|
| 674 |
+
},
|
| 675 |
+
"stack_2_right_group_1": {
|
| 676 |
+
"cls": "SingleCabinet"
|
| 677 |
+
},
|
| 678 |
+
"stack_2_right_group_2": {
|
| 679 |
+
"cls": "Drawer"
|
| 680 |
+
},
|
| 681 |
+
"stack_3_right_group_base": {
|
| 682 |
+
"cls": "Box"
|
| 683 |
+
},
|
| 684 |
+
"stack_3_right_group_1": {
|
| 685 |
+
"cls": "Drawer"
|
| 686 |
+
},
|
| 687 |
+
"stack_3_right_group_2": {
|
| 688 |
+
"cls": "Drawer"
|
| 689 |
+
},
|
| 690 |
+
"stack_3_right_group_3": {
|
| 691 |
+
"cls": "Drawer"
|
| 692 |
+
},
|
| 693 |
+
"stack_3_right_group_4": {
|
| 694 |
+
"cls": "Drawer"
|
| 695 |
+
},
|
| 696 |
+
"cab_1_right_group": {
|
| 697 |
+
"cls": "HingeCabinet"
|
| 698 |
+
},
|
| 699 |
+
"cab_2_right_group": {
|
| 700 |
+
"cls": "HingeCabinet"
|
| 701 |
+
},
|
| 702 |
+
"fridge_cab_right_group": {
|
| 703 |
+
"cls": "HingeCabinet"
|
| 704 |
+
},
|
| 705 |
+
"coffee_machine_right_group": {
|
| 706 |
+
"cls": "CoffeeMachine"
|
| 707 |
+
},
|
| 708 |
+
"toaster_right_group": {
|
| 709 |
+
"cls": "Toaster"
|
| 710 |
+
}
|
| 711 |
+
},
|
| 712 |
+
"gen_textures": {},
|
| 713 |
+
"lang": "Pick the chicken drumstick and tomato from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 714 |
+
"fixture_refs": {
|
| 715 |
+
"stool1": "stool_1_room",
|
| 716 |
+
"stool2": "stool_2_room",
|
| 717 |
+
"dining_counter": "island_island_group",
|
| 718 |
+
"fridge": "fridge_right_group"
|
| 719 |
+
},
|
| 720 |
+
"cam_configs": {
|
| 721 |
+
"robot0_agentview_center": {
|
| 722 |
+
"pos": [
|
| 723 |
+
-0.6,
|
| 724 |
+
0.0,
|
| 725 |
+
1.15
|
| 726 |
+
],
|
| 727 |
+
"quat": [
|
| 728 |
+
0.636945903301239,
|
| 729 |
+
0.3325185477733612,
|
| 730 |
+
-0.3199238181114197,
|
| 731 |
+
-0.6175596117973328
|
| 732 |
+
],
|
| 733 |
+
"parent_body": "mobilebase0_support"
|
| 734 |
+
},
|
| 735 |
+
"robot0_agentview_left": {
|
| 736 |
+
"pos": [
|
| 737 |
+
-0.5,
|
| 738 |
+
0.35,
|
| 739 |
+
1.05
|
| 740 |
+
],
|
| 741 |
+
"quat": [
|
| 742 |
+
0.55623853,
|
| 743 |
+
0.29935253,
|
| 744 |
+
-0.37678665,
|
| 745 |
+
-0.6775092
|
| 746 |
+
],
|
| 747 |
+
"camera_attribs": {
|
| 748 |
+
"fovy": "60"
|
| 749 |
+
},
|
| 750 |
+
"parent_body": "mobilebase0_support"
|
| 751 |
+
},
|
| 752 |
+
"robot0_agentview_right": {
|
| 753 |
+
"pos": [
|
| 754 |
+
-0.5,
|
| 755 |
+
-0.35,
|
| 756 |
+
1.05
|
| 757 |
+
],
|
| 758 |
+
"quat": [
|
| 759 |
+
0.6775091886520386,
|
| 760 |
+
0.3767866790294647,
|
| 761 |
+
-0.2993525564670563,
|
| 762 |
+
-0.55623859167099
|
| 763 |
+
],
|
| 764 |
+
"camera_attribs": {
|
| 765 |
+
"fovy": "60"
|
| 766 |
+
},
|
| 767 |
+
"parent_body": "mobilebase0_support"
|
| 768 |
+
},
|
| 769 |
+
"robot0_frontview": {
|
| 770 |
+
"pos": [
|
| 771 |
+
-0.5,
|
| 772 |
+
0,
|
| 773 |
+
0.95
|
| 774 |
+
],
|
| 775 |
+
"quat": [
|
| 776 |
+
0.6088936924934387,
|
| 777 |
+
0.3814677894115448,
|
| 778 |
+
-0.3673907518386841,
|
| 779 |
+
-0.5905545353889465
|
| 780 |
+
],
|
| 781 |
+
"camera_attribs": {
|
| 782 |
+
"fovy": "60"
|
| 783 |
+
},
|
| 784 |
+
"parent_body": "mobilebase0_support"
|
| 785 |
+
},
|
| 786 |
+
"robot0_eye_in_hand": {
|
| 787 |
+
"pos": [
|
| 788 |
+
0.05,
|
| 789 |
+
0,
|
| 790 |
+
0
|
| 791 |
+
],
|
| 792 |
+
"quat": [
|
| 793 |
+
0,
|
| 794 |
+
0.707107,
|
| 795 |
+
0.707107,
|
| 796 |
+
0
|
| 797 |
+
],
|
| 798 |
+
"parent_body": "robot0_right_hand"
|
| 799 |
+
}
|
| 800 |
+
},
|
| 801 |
+
"init_robot_base_pos": [
|
| 802 |
+
3.225159023069043,
|
| 803 |
+
-3.7863799752253793,
|
| 804 |
+
0.0
|
| 805 |
+
],
|
| 806 |
+
"init_robot_base_ori": [
|
| 807 |
+
0.0,
|
| 808 |
+
0.0,
|
| 809 |
+
7.85388898038469
|
| 810 |
+
]
|
| 811 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000361/ep_meta.json
ADDED
|
@@ -0,0 +1,678 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 8,
|
| 3 |
+
"style_id": 8,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_front_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.232802852625,
|
| 14 |
+
0.23286639915,
|
| 15 |
+
0.014759147025
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.100074126305603,
|
| 47 |
+
0.65
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.3999629368471984,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "counter_1_front_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.24568749157499997,
|
| 98 |
+
0.24474791709000002,
|
| 99 |
+
0.03850276869
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
1.1999258801329122,
|
| 131 |
+
0.65
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-0.35003705993354384,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"bell_pepper",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"vegetable"
|
| 167 |
+
],
|
| 168 |
+
"cat": "bell_pepper",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"name": "bowl",
|
| 175 |
+
"obj_groups": "bowl",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"placement": {
|
| 178 |
+
"fixture": "counter_1_front_group",
|
| 179 |
+
"sample_region_kwargs": {
|
| 180 |
+
"ref": "stool_2_room",
|
| 181 |
+
"min_size": [
|
| 182 |
+
0.2399963735999999,
|
| 183 |
+
0.23998859999999989,
|
| 184 |
+
0.09870963839999995
|
| 185 |
+
]
|
| 186 |
+
},
|
| 187 |
+
"size": [
|
| 188 |
+
1.0,
|
| 189 |
+
0.4
|
| 190 |
+
],
|
| 191 |
+
"pos": [
|
| 192 |
+
"ref",
|
| 193 |
+
"ref"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"type": "object",
|
| 197 |
+
"info": {
|
| 198 |
+
"groups_containing_sampled_obj": [
|
| 199 |
+
"all",
|
| 200 |
+
"bowl",
|
| 201 |
+
"stackable",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"group1",
|
| 204 |
+
"container_set2"
|
| 205 |
+
],
|
| 206 |
+
"groups": [
|
| 207 |
+
"bowl"
|
| 208 |
+
],
|
| 209 |
+
"cat": "bowl",
|
| 210 |
+
"split": "test",
|
| 211 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
|
| 212 |
+
},
|
| 213 |
+
"reset_region": {
|
| 214 |
+
"size": [
|
| 215 |
+
1.1999258801329122,
|
| 216 |
+
0.65
|
| 217 |
+
],
|
| 218 |
+
"offset": [
|
| 219 |
+
-0.35003705993354384,
|
| 220 |
+
0.0,
|
| 221 |
+
0.46
|
| 222 |
+
],
|
| 223 |
+
"name": "geom_0"
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "distr1",
|
| 228 |
+
"fridgable": true,
|
| 229 |
+
"placement": {
|
| 230 |
+
"fixture": "fridge_left_group",
|
| 231 |
+
"size": [
|
| 232 |
+
0.3,
|
| 233 |
+
0.3
|
| 234 |
+
],
|
| 235 |
+
"pos": [
|
| 236 |
+
-0.3,
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"type": "object",
|
| 241 |
+
"info": {
|
| 242 |
+
"groups_containing_sampled_obj": [
|
| 243 |
+
"all",
|
| 244 |
+
"beer",
|
| 245 |
+
"alcohol",
|
| 246 |
+
"drink"
|
| 247 |
+
],
|
| 248 |
+
"groups": [
|
| 249 |
+
"all"
|
| 250 |
+
],
|
| 251 |
+
"cat": "beer",
|
| 252 |
+
"split": "test",
|
| 253 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_8/model.xml"
|
| 254 |
+
},
|
| 255 |
+
"reset_region": {
|
| 256 |
+
"offset": [
|
| 257 |
+
-0.000519890487119562,
|
| 258 |
+
0.0028797472135973917,
|
| 259 |
+
0.5483455536926568
|
| 260 |
+
],
|
| 261 |
+
"size": [
|
| 262 |
+
0.6781268599613075,
|
| 263 |
+
0.4671225904746241
|
| 264 |
+
],
|
| 265 |
+
"name": "fridge_shelf1"
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"name": "distr2",
|
| 270 |
+
"fridgable": true,
|
| 271 |
+
"placement": {
|
| 272 |
+
"fixture": "fridge_left_group",
|
| 273 |
+
"size": [
|
| 274 |
+
0.3,
|
| 275 |
+
0.3
|
| 276 |
+
],
|
| 277 |
+
"pos": [
|
| 278 |
+
0.3,
|
| 279 |
+
1.0
|
| 280 |
+
]
|
| 281 |
+
},
|
| 282 |
+
"type": "object",
|
| 283 |
+
"info": {
|
| 284 |
+
"groups_containing_sampled_obj": [
|
| 285 |
+
"all",
|
| 286 |
+
"pitcher",
|
| 287 |
+
"receptacle"
|
| 288 |
+
],
|
| 289 |
+
"groups": [
|
| 290 |
+
"all"
|
| 291 |
+
],
|
| 292 |
+
"cat": "pitcher",
|
| 293 |
+
"split": "test",
|
| 294 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher009/model.xml"
|
| 295 |
+
},
|
| 296 |
+
"reset_region": {
|
| 297 |
+
"offset": [
|
| 298 |
+
0.00734478175963188,
|
| 299 |
+
0.003573956171600376,
|
| 300 |
+
0.24405273782152556
|
| 301 |
+
],
|
| 302 |
+
"size": [
|
| 303 |
+
0.6623975154678047,
|
| 304 |
+
0.4660752914038736
|
| 305 |
+
],
|
| 306 |
+
"name": "fridge_shelf0"
|
| 307 |
+
}
|
| 308 |
+
}
|
| 309 |
+
],
|
| 310 |
+
"fixtures": {
|
| 311 |
+
"wall_room": {
|
| 312 |
+
"cls": "Wall"
|
| 313 |
+
},
|
| 314 |
+
"wall_backing_room": {
|
| 315 |
+
"cls": "Wall"
|
| 316 |
+
},
|
| 317 |
+
"wall_left_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_left_backing_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"wall_right_room": {
|
| 324 |
+
"cls": "Wall"
|
| 325 |
+
},
|
| 326 |
+
"wall_right_backing_room": {
|
| 327 |
+
"cls": "Wall"
|
| 328 |
+
},
|
| 329 |
+
"outlet_room": {
|
| 330 |
+
"cls": "WallAccessory"
|
| 331 |
+
},
|
| 332 |
+
"outlet_2_room": {
|
| 333 |
+
"cls": "WallAccessory"
|
| 334 |
+
},
|
| 335 |
+
"light_switch_room": {
|
| 336 |
+
"cls": "WallAccessory"
|
| 337 |
+
},
|
| 338 |
+
"light_switch_2_room": {
|
| 339 |
+
"cls": "WallAccessory"
|
| 340 |
+
},
|
| 341 |
+
"utensil_rack_room": {
|
| 342 |
+
"cls": "WallAccessory"
|
| 343 |
+
},
|
| 344 |
+
"window_group_room": {
|
| 345 |
+
"cls": "Window"
|
| 346 |
+
},
|
| 347 |
+
"floor_room": {
|
| 348 |
+
"cls": "Floor"
|
| 349 |
+
},
|
| 350 |
+
"floor_backing_room": {
|
| 351 |
+
"cls": "Floor"
|
| 352 |
+
},
|
| 353 |
+
"stool_1_room": {
|
| 354 |
+
"cls": "Stool"
|
| 355 |
+
},
|
| 356 |
+
"stool_2_room": {
|
| 357 |
+
"cls": "Stool"
|
| 358 |
+
},
|
| 359 |
+
"counter_corner_main_group": {
|
| 360 |
+
"cls": "Counter"
|
| 361 |
+
},
|
| 362 |
+
"counter_main_main_group": {
|
| 363 |
+
"cls": "Counter"
|
| 364 |
+
},
|
| 365 |
+
"counter_corner_2_main_group": {
|
| 366 |
+
"cls": "Counter"
|
| 367 |
+
},
|
| 368 |
+
"cab_corner_main_group": {
|
| 369 |
+
"cls": "Box"
|
| 370 |
+
},
|
| 371 |
+
"cab_corner_2_main_group": {
|
| 372 |
+
"cls": "Box"
|
| 373 |
+
},
|
| 374 |
+
"cab_main_main_group": {
|
| 375 |
+
"cls": "HingeCabinet"
|
| 376 |
+
},
|
| 377 |
+
"cab_1_main_group": {
|
| 378 |
+
"cls": "SingleCabinet"
|
| 379 |
+
},
|
| 380 |
+
"cab_corner_3_main_group": {
|
| 381 |
+
"cls": "Box"
|
| 382 |
+
},
|
| 383 |
+
"cab_corner_4_main_group": {
|
| 384 |
+
"cls": "Box"
|
| 385 |
+
},
|
| 386 |
+
"stack_1_main_group_base": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"stack_1_main_group_1": {
|
| 390 |
+
"cls": "HingeCabinet"
|
| 391 |
+
},
|
| 392 |
+
"stack_1_main_group_2": {
|
| 393 |
+
"cls": "Drawer"
|
| 394 |
+
},
|
| 395 |
+
"stack_1_main_group_3": {
|
| 396 |
+
"cls": "Drawer"
|
| 397 |
+
},
|
| 398 |
+
"stack_2_main_group_base": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"stack_2_main_group_1": {
|
| 402 |
+
"cls": "HingeCabinet"
|
| 403 |
+
},
|
| 404 |
+
"stack_2_main_group_2": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"stack_2_main_group_3": {
|
| 408 |
+
"cls": "Drawer"
|
| 409 |
+
},
|
| 410 |
+
"stack_3_main_group_base": {
|
| 411 |
+
"cls": "Box"
|
| 412 |
+
},
|
| 413 |
+
"stack_3_main_group_1": {
|
| 414 |
+
"cls": "Drawer"
|
| 415 |
+
},
|
| 416 |
+
"stack_3_main_group_2": {
|
| 417 |
+
"cls": "Drawer"
|
| 418 |
+
},
|
| 419 |
+
"stack_3_main_group_3": {
|
| 420 |
+
"cls": "Drawer"
|
| 421 |
+
},
|
| 422 |
+
"stack_3_main_group_4": {
|
| 423 |
+
"cls": "Drawer"
|
| 424 |
+
},
|
| 425 |
+
"toaster_main_group": {
|
| 426 |
+
"cls": "Toaster"
|
| 427 |
+
},
|
| 428 |
+
"toaster_oven_main_group": {
|
| 429 |
+
"cls": "ToasterOven"
|
| 430 |
+
},
|
| 431 |
+
"oil_bottle_main_group": {
|
| 432 |
+
"cls": "Accessory"
|
| 433 |
+
},
|
| 434 |
+
"fruit_bowl_main_group": {
|
| 435 |
+
"cls": "Accessory"
|
| 436 |
+
},
|
| 437 |
+
"knife_block_main_group": {
|
| 438 |
+
"cls": "Accessory"
|
| 439 |
+
},
|
| 440 |
+
"utensil_set_main_group": {
|
| 441 |
+
"cls": "Accessory"
|
| 442 |
+
},
|
| 443 |
+
"paper_towel_main_group": {
|
| 444 |
+
"cls": "Accessory"
|
| 445 |
+
},
|
| 446 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 447 |
+
"cls": "Accessory"
|
| 448 |
+
},
|
| 449 |
+
"counter_1_front_group": {
|
| 450 |
+
"cls": "Counter"
|
| 451 |
+
},
|
| 452 |
+
"counter_corner_front_group": {
|
| 453 |
+
"cls": "Counter"
|
| 454 |
+
},
|
| 455 |
+
"counter_1_left_group": {
|
| 456 |
+
"cls": "Counter"
|
| 457 |
+
},
|
| 458 |
+
"stove_left_group": {
|
| 459 |
+
"cls": "Stove"
|
| 460 |
+
},
|
| 461 |
+
"counter_2_left_group": {
|
| 462 |
+
"cls": "Counter"
|
| 463 |
+
},
|
| 464 |
+
"counter_corner_left_group": {
|
| 465 |
+
"cls": "Counter"
|
| 466 |
+
},
|
| 467 |
+
"fridge_left_group": {
|
| 468 |
+
"cls": "FridgeFrenchDoor"
|
| 469 |
+
},
|
| 470 |
+
"fridge_housing_left_group": {
|
| 471 |
+
"cls": "HousingCabinet"
|
| 472 |
+
},
|
| 473 |
+
"stack_1_left_group_base": {
|
| 474 |
+
"cls": "Box"
|
| 475 |
+
},
|
| 476 |
+
"stack_1_left_group_1": {
|
| 477 |
+
"cls": "SingleCabinet"
|
| 478 |
+
},
|
| 479 |
+
"stack_1_left_group_2": {
|
| 480 |
+
"cls": "Drawer"
|
| 481 |
+
},
|
| 482 |
+
"stack_2_left_group_base": {
|
| 483 |
+
"cls": "Box"
|
| 484 |
+
},
|
| 485 |
+
"stack_2_left_group_1": {
|
| 486 |
+
"cls": "SingleCabinet"
|
| 487 |
+
},
|
| 488 |
+
"stack_2_left_group_2": {
|
| 489 |
+
"cls": "Drawer"
|
| 490 |
+
},
|
| 491 |
+
"cab_1_left_group": {
|
| 492 |
+
"cls": "SingleCabinet"
|
| 493 |
+
},
|
| 494 |
+
"microwave_left_group": {
|
| 495 |
+
"cls": "Microwave"
|
| 496 |
+
},
|
| 497 |
+
"cab_micro_left_group": {
|
| 498 |
+
"cls": "HingeCabinet"
|
| 499 |
+
},
|
| 500 |
+
"cab_2_left_group": {
|
| 501 |
+
"cls": "SingleCabinet"
|
| 502 |
+
},
|
| 503 |
+
"cab_3_left_group": {
|
| 504 |
+
"cls": "HingeCabinet"
|
| 505 |
+
},
|
| 506 |
+
"coffee_machine_left_group": {
|
| 507 |
+
"cls": "CoffeeMachine"
|
| 508 |
+
},
|
| 509 |
+
"salt_shaker_left_group": {
|
| 510 |
+
"cls": "Accessory"
|
| 511 |
+
},
|
| 512 |
+
"salt_shaker_left_group_auxiliary_left_group": {
|
| 513 |
+
"cls": "Accessory"
|
| 514 |
+
},
|
| 515 |
+
"sink_right_group": {
|
| 516 |
+
"cls": "Sink"
|
| 517 |
+
},
|
| 518 |
+
"counter_1_right_group": {
|
| 519 |
+
"cls": "Counter"
|
| 520 |
+
},
|
| 521 |
+
"counter_corner_right_group": {
|
| 522 |
+
"cls": "Counter"
|
| 523 |
+
},
|
| 524 |
+
"counter_corner_2_right_group": {
|
| 525 |
+
"cls": "Counter"
|
| 526 |
+
},
|
| 527 |
+
"stack_1_right_group_base": {
|
| 528 |
+
"cls": "Box"
|
| 529 |
+
},
|
| 530 |
+
"stack_1_right_group_1": {
|
| 531 |
+
"cls": "HingeCabinet"
|
| 532 |
+
},
|
| 533 |
+
"stack_1_right_group_2": {
|
| 534 |
+
"cls": "PanelCabinet"
|
| 535 |
+
},
|
| 536 |
+
"dishwasher_right_group": {
|
| 537 |
+
"cls": "Dishwasher"
|
| 538 |
+
},
|
| 539 |
+
"stack_2_right_group_base": {
|
| 540 |
+
"cls": "Box"
|
| 541 |
+
},
|
| 542 |
+
"stack_2_right_group_1": {
|
| 543 |
+
"cls": "Drawer"
|
| 544 |
+
},
|
| 545 |
+
"stack_2_right_group_2": {
|
| 546 |
+
"cls": "Drawer"
|
| 547 |
+
},
|
| 548 |
+
"stack_2_right_group_3": {
|
| 549 |
+
"cls": "Drawer"
|
| 550 |
+
},
|
| 551 |
+
"stack_2_right_group_4": {
|
| 552 |
+
"cls": "Drawer"
|
| 553 |
+
},
|
| 554 |
+
"cab_1_right_group": {
|
| 555 |
+
"cls": "HingeCabinet"
|
| 556 |
+
},
|
| 557 |
+
"shelves_right_group": {
|
| 558 |
+
"cls": "OpenCabinet"
|
| 559 |
+
},
|
| 560 |
+
"flower_vase_right_group": {
|
| 561 |
+
"cls": "Accessory"
|
| 562 |
+
},
|
| 563 |
+
"soap_dispenser_right_group": {
|
| 564 |
+
"cls": "Accessory"
|
| 565 |
+
},
|
| 566 |
+
"glass_cup_right_group": {
|
| 567 |
+
"cls": "Accessory"
|
| 568 |
+
},
|
| 569 |
+
"glass_cup_2_right_group": {
|
| 570 |
+
"cls": "Accessory"
|
| 571 |
+
},
|
| 572 |
+
"paprika_right_group": {
|
| 573 |
+
"cls": "Accessory"
|
| 574 |
+
},
|
| 575 |
+
"cinnamon_right_group": {
|
| 576 |
+
"cls": "Accessory"
|
| 577 |
+
}
|
| 578 |
+
},
|
| 579 |
+
"gen_textures": {},
|
| 580 |
+
"lang": "Pick the chicken drumstick and bell pepper from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 581 |
+
"fixture_refs": {
|
| 582 |
+
"stool1": "stool_1_room",
|
| 583 |
+
"stool2": "stool_2_room",
|
| 584 |
+
"dining_counter": "counter_1_front_group",
|
| 585 |
+
"fridge": "fridge_left_group"
|
| 586 |
+
},
|
| 587 |
+
"cam_configs": {
|
| 588 |
+
"robot0_agentview_center": {
|
| 589 |
+
"pos": [
|
| 590 |
+
-0.6,
|
| 591 |
+
0.0,
|
| 592 |
+
1.15
|
| 593 |
+
],
|
| 594 |
+
"quat": [
|
| 595 |
+
0.636945903301239,
|
| 596 |
+
0.3325185477733612,
|
| 597 |
+
-0.3199238181114197,
|
| 598 |
+
-0.6175596117973328
|
| 599 |
+
],
|
| 600 |
+
"parent_body": "mobilebase0_support"
|
| 601 |
+
},
|
| 602 |
+
"robot0_agentview_left": {
|
| 603 |
+
"pos": [
|
| 604 |
+
-0.5,
|
| 605 |
+
0.35,
|
| 606 |
+
1.05
|
| 607 |
+
],
|
| 608 |
+
"quat": [
|
| 609 |
+
0.55623853,
|
| 610 |
+
0.29935253,
|
| 611 |
+
-0.37678665,
|
| 612 |
+
-0.6775092
|
| 613 |
+
],
|
| 614 |
+
"camera_attribs": {
|
| 615 |
+
"fovy": "60"
|
| 616 |
+
},
|
| 617 |
+
"parent_body": "mobilebase0_support"
|
| 618 |
+
},
|
| 619 |
+
"robot0_agentview_right": {
|
| 620 |
+
"pos": [
|
| 621 |
+
-0.5,
|
| 622 |
+
-0.35,
|
| 623 |
+
1.05
|
| 624 |
+
],
|
| 625 |
+
"quat": [
|
| 626 |
+
0.6775091886520386,
|
| 627 |
+
0.3767866790294647,
|
| 628 |
+
-0.2993525564670563,
|
| 629 |
+
-0.55623859167099
|
| 630 |
+
],
|
| 631 |
+
"camera_attribs": {
|
| 632 |
+
"fovy": "60"
|
| 633 |
+
},
|
| 634 |
+
"parent_body": "mobilebase0_support"
|
| 635 |
+
},
|
| 636 |
+
"robot0_frontview": {
|
| 637 |
+
"pos": [
|
| 638 |
+
-0.5,
|
| 639 |
+
0,
|
| 640 |
+
0.95
|
| 641 |
+
],
|
| 642 |
+
"quat": [
|
| 643 |
+
0.6088936924934387,
|
| 644 |
+
0.3814677894115448,
|
| 645 |
+
-0.3673907518386841,
|
| 646 |
+
-0.5905545353889465
|
| 647 |
+
],
|
| 648 |
+
"camera_attribs": {
|
| 649 |
+
"fovy": "60"
|
| 650 |
+
},
|
| 651 |
+
"parent_body": "mobilebase0_support"
|
| 652 |
+
},
|
| 653 |
+
"robot0_eye_in_hand": {
|
| 654 |
+
"pos": [
|
| 655 |
+
0.05,
|
| 656 |
+
0,
|
| 657 |
+
0
|
| 658 |
+
],
|
| 659 |
+
"quat": [
|
| 660 |
+
0,
|
| 661 |
+
0.707107,
|
| 662 |
+
0.707107,
|
| 663 |
+
0
|
| 664 |
+
],
|
| 665 |
+
"parent_body": "robot0_right_hand"
|
| 666 |
+
}
|
| 667 |
+
},
|
| 668 |
+
"init_robot_base_pos": [
|
| 669 |
+
2.7014864752839705,
|
| 670 |
+
-3.9635968940362023,
|
| 671 |
+
0.0
|
| 672 |
+
],
|
| 673 |
+
"init_robot_base_ori": [
|
| 674 |
+
0.0,
|
| 675 |
+
0.0,
|
| 676 |
+
7.85388898038469
|
| 677 |
+
]
|
| 678 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000372/ep_meta.json
ADDED
|
@@ -0,0 +1,648 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.232802852625,
|
| 14 |
+
0.23286639915,
|
| 15 |
+
0.014759147025
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.244743326685,
|
| 98 |
+
0.24474403597500002,
|
| 99 |
+
0.023217144615000004
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"sweet_potato",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"oven_ready"
|
| 165 |
+
],
|
| 166 |
+
"groups": [
|
| 167 |
+
"vegetable"
|
| 168 |
+
],
|
| 169 |
+
"cat": "sweet_potato",
|
| 170 |
+
"split": "test",
|
| 171 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "bowl",
|
| 176 |
+
"obj_groups": "bowl",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"placement": {
|
| 179 |
+
"fixture": "island_island_group",
|
| 180 |
+
"sample_region_kwargs": {
|
| 181 |
+
"ref": "stool_2_room",
|
| 182 |
+
"min_size": [
|
| 183 |
+
0.22999947099999987,
|
| 184 |
+
0.22999348179999984,
|
| 185 |
+
0.06689473639999997
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"size": [
|
| 189 |
+
1.0,
|
| 190 |
+
0.4
|
| 191 |
+
],
|
| 192 |
+
"pos": [
|
| 193 |
+
"ref",
|
| 194 |
+
"ref"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"type": "object",
|
| 198 |
+
"info": {
|
| 199 |
+
"groups_containing_sampled_obj": [
|
| 200 |
+
"all",
|
| 201 |
+
"bowl",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"stackable",
|
| 204 |
+
"group1",
|
| 205 |
+
"container_set2"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"bowl"
|
| 209 |
+
],
|
| 210 |
+
"cat": "bowl",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
|
| 213 |
+
},
|
| 214 |
+
"reset_region": {
|
| 215 |
+
"size": [
|
| 216 |
+
2.4399842052305356,
|
| 217 |
+
1.6
|
| 218 |
+
],
|
| 219 |
+
"offset": [
|
| 220 |
+
0.005007897384732285,
|
| 221 |
+
0.0,
|
| 222 |
+
0.46
|
| 223 |
+
],
|
| 224 |
+
"name": "geom_0"
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"name": "distr1",
|
| 229 |
+
"fridgable": true,
|
| 230 |
+
"placement": {
|
| 231 |
+
"fixture": "fridge_main_group",
|
| 232 |
+
"size": [
|
| 233 |
+
0.3,
|
| 234 |
+
0.3
|
| 235 |
+
],
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.3,
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"type": "object",
|
| 242 |
+
"info": {
|
| 243 |
+
"groups_containing_sampled_obj": [
|
| 244 |
+
"all",
|
| 245 |
+
"pitcher",
|
| 246 |
+
"receptacle"
|
| 247 |
+
],
|
| 248 |
+
"groups": [
|
| 249 |
+
"all"
|
| 250 |
+
],
|
| 251 |
+
"cat": "pitcher",
|
| 252 |
+
"split": "test",
|
| 253 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher016/model.xml"
|
| 254 |
+
},
|
| 255 |
+
"reset_region": {
|
| 256 |
+
"offset": [
|
| 257 |
+
5.222870163282267e-05,
|
| 258 |
+
0.10788939929975168,
|
| 259 |
+
0.5507136994887958
|
| 260 |
+
],
|
| 261 |
+
"size": [
|
| 262 |
+
0.7775131174413674,
|
| 263 |
+
0.5543220166326962
|
| 264 |
+
],
|
| 265 |
+
"name": "fridge_shelf1"
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"name": "distr2",
|
| 270 |
+
"fridgable": true,
|
| 271 |
+
"placement": {
|
| 272 |
+
"fixture": "fridge_main_group",
|
| 273 |
+
"size": [
|
| 274 |
+
0.3,
|
| 275 |
+
0.3
|
| 276 |
+
],
|
| 277 |
+
"pos": [
|
| 278 |
+
0.3,
|
| 279 |
+
1.0
|
| 280 |
+
]
|
| 281 |
+
},
|
| 282 |
+
"type": "object",
|
| 283 |
+
"info": {
|
| 284 |
+
"groups_containing_sampled_obj": [
|
| 285 |
+
"all",
|
| 286 |
+
"pitcher",
|
| 287 |
+
"receptacle"
|
| 288 |
+
],
|
| 289 |
+
"groups": [
|
| 290 |
+
"all"
|
| 291 |
+
],
|
| 292 |
+
"cat": "pitcher",
|
| 293 |
+
"split": "test",
|
| 294 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher014/model.xml"
|
| 295 |
+
},
|
| 296 |
+
"reset_region": {
|
| 297 |
+
"offset": [
|
| 298 |
+
-0.0002632047656345171,
|
| 299 |
+
0.10788939929975168,
|
| 300 |
+
0.181412742979443
|
| 301 |
+
],
|
| 302 |
+
"size": [
|
| 303 |
+
0.7781439843759018,
|
| 304 |
+
0.5543220166326962
|
| 305 |
+
],
|
| 306 |
+
"name": "fridge_shelf0"
|
| 307 |
+
}
|
| 308 |
+
}
|
| 309 |
+
],
|
| 310 |
+
"fixtures": {
|
| 311 |
+
"wall_room": {
|
| 312 |
+
"cls": "Wall"
|
| 313 |
+
},
|
| 314 |
+
"wall_backing_room": {
|
| 315 |
+
"cls": "Wall"
|
| 316 |
+
},
|
| 317 |
+
"wall_left_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_left_backing_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"outlet_room": {
|
| 324 |
+
"cls": "WallAccessory"
|
| 325 |
+
},
|
| 326 |
+
"outlet_2_room": {
|
| 327 |
+
"cls": "WallAccessory"
|
| 328 |
+
},
|
| 329 |
+
"light_switch_room": {
|
| 330 |
+
"cls": "WallAccessory"
|
| 331 |
+
},
|
| 332 |
+
"light_switch_2_room": {
|
| 333 |
+
"cls": "WallAccessory"
|
| 334 |
+
},
|
| 335 |
+
"window_group_room": {
|
| 336 |
+
"cls": "Window"
|
| 337 |
+
},
|
| 338 |
+
"floor_room": {
|
| 339 |
+
"cls": "Floor"
|
| 340 |
+
},
|
| 341 |
+
"floor_backing_room": {
|
| 342 |
+
"cls": "Floor"
|
| 343 |
+
},
|
| 344 |
+
"stool_1_room": {
|
| 345 |
+
"cls": "Stool"
|
| 346 |
+
},
|
| 347 |
+
"stool_2_room": {
|
| 348 |
+
"cls": "Stool"
|
| 349 |
+
},
|
| 350 |
+
"stool_3_room": {
|
| 351 |
+
"cls": "Stool"
|
| 352 |
+
},
|
| 353 |
+
"counter_corner_main_main_group": {
|
| 354 |
+
"cls": "Counter"
|
| 355 |
+
},
|
| 356 |
+
"counter_main_main_group": {
|
| 357 |
+
"cls": "Counter"
|
| 358 |
+
},
|
| 359 |
+
"stovetop_main_group": {
|
| 360 |
+
"cls": "Stovetop"
|
| 361 |
+
},
|
| 362 |
+
"counter_1_right_main_group": {
|
| 363 |
+
"cls": "Counter"
|
| 364 |
+
},
|
| 365 |
+
"fridge_main_group": {
|
| 366 |
+
"cls": "FridgeFrenchDoor"
|
| 367 |
+
},
|
| 368 |
+
"fridge_housing_main_group": {
|
| 369 |
+
"cls": "HousingCabinet"
|
| 370 |
+
},
|
| 371 |
+
"stack_1_main_group_base": {
|
| 372 |
+
"cls": "Box"
|
| 373 |
+
},
|
| 374 |
+
"stack_1_main_group_1": {
|
| 375 |
+
"cls": "Drawer"
|
| 376 |
+
},
|
| 377 |
+
"stack_1_main_group_2": {
|
| 378 |
+
"cls": "Drawer"
|
| 379 |
+
},
|
| 380 |
+
"stack_1_main_group_3": {
|
| 381 |
+
"cls": "Drawer"
|
| 382 |
+
},
|
| 383 |
+
"stack_1_main_group_4": {
|
| 384 |
+
"cls": "Drawer"
|
| 385 |
+
},
|
| 386 |
+
"stack_2_main_group_base": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"stack_2_main_group_1": {
|
| 390 |
+
"cls": "HingeCabinet"
|
| 391 |
+
},
|
| 392 |
+
"stack_2_main_group_2": {
|
| 393 |
+
"cls": "PanelCabinet"
|
| 394 |
+
},
|
| 395 |
+
"stack_3_main_group_base": {
|
| 396 |
+
"cls": "Box"
|
| 397 |
+
},
|
| 398 |
+
"stack_3_main_group_1": {
|
| 399 |
+
"cls": "HingeCabinet"
|
| 400 |
+
},
|
| 401 |
+
"stack_3_main_group_2": {
|
| 402 |
+
"cls": "Drawer"
|
| 403 |
+
},
|
| 404 |
+
"stack_3_main_group_3": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"hood_main_group": {
|
| 408 |
+
"cls": "Hood"
|
| 409 |
+
},
|
| 410 |
+
"cab_main_main_group": {
|
| 411 |
+
"cls": "HingeCabinet"
|
| 412 |
+
},
|
| 413 |
+
"shelves_main_group": {
|
| 414 |
+
"cls": "OpenCabinet"
|
| 415 |
+
},
|
| 416 |
+
"fridge_cab_main_group": {
|
| 417 |
+
"cls": "HingeCabinet"
|
| 418 |
+
},
|
| 419 |
+
"paper_towel_main_group": {
|
| 420 |
+
"cls": "Accessory"
|
| 421 |
+
},
|
| 422 |
+
"knife_block_main_group": {
|
| 423 |
+
"cls": "Accessory"
|
| 424 |
+
},
|
| 425 |
+
"toaster_main_group": {
|
| 426 |
+
"cls": "Toaster"
|
| 427 |
+
},
|
| 428 |
+
"utensil_set_main_group": {
|
| 429 |
+
"cls": "Accessory"
|
| 430 |
+
},
|
| 431 |
+
"toaster_oven_main_group": {
|
| 432 |
+
"cls": "ToasterOven"
|
| 433 |
+
},
|
| 434 |
+
"jar_main_group": {
|
| 435 |
+
"cls": "Accessory"
|
| 436 |
+
},
|
| 437 |
+
"jar_2_main_group": {
|
| 438 |
+
"cls": "Accessory"
|
| 439 |
+
},
|
| 440 |
+
"glass_cup_main_group": {
|
| 441 |
+
"cls": "Accessory"
|
| 442 |
+
},
|
| 443 |
+
"glass_cup_2_main_group": {
|
| 444 |
+
"cls": "Accessory"
|
| 445 |
+
},
|
| 446 |
+
"jar_main_group_auxiliary_main_group": {
|
| 447 |
+
"cls": "Accessory"
|
| 448 |
+
},
|
| 449 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 450 |
+
"cls": "Accessory"
|
| 451 |
+
},
|
| 452 |
+
"cab_1_left_group": {
|
| 453 |
+
"cls": "SingleCabinet"
|
| 454 |
+
},
|
| 455 |
+
"cab_2_left_group": {
|
| 456 |
+
"cls": "SingleCabinet"
|
| 457 |
+
},
|
| 458 |
+
"cab_corner_3_left_group": {
|
| 459 |
+
"cls": "Box"
|
| 460 |
+
},
|
| 461 |
+
"cab_corner_4_left_group": {
|
| 462 |
+
"cls": "Box"
|
| 463 |
+
},
|
| 464 |
+
"sink_left_group": {
|
| 465 |
+
"cls": "Sink"
|
| 466 |
+
},
|
| 467 |
+
"counter_1_left_left_group": {
|
| 468 |
+
"cls": "Counter"
|
| 469 |
+
},
|
| 470 |
+
"counter_corner_left_group": {
|
| 471 |
+
"cls": "Counter"
|
| 472 |
+
},
|
| 473 |
+
"bottom_left_group_base": {
|
| 474 |
+
"cls": "Box"
|
| 475 |
+
},
|
| 476 |
+
"bottom_left_group_1": {
|
| 477 |
+
"cls": "Drawer"
|
| 478 |
+
},
|
| 479 |
+
"bottom_left_group_2": {
|
| 480 |
+
"cls": "Drawer"
|
| 481 |
+
},
|
| 482 |
+
"oven_left_group": {
|
| 483 |
+
"cls": "Oven"
|
| 484 |
+
},
|
| 485 |
+
"oven_housing_left_group": {
|
| 486 |
+
"cls": "HousingCabinet"
|
| 487 |
+
},
|
| 488 |
+
"microwave_left_group": {
|
| 489 |
+
"cls": "Microwave"
|
| 490 |
+
},
|
| 491 |
+
"micro_housing_left_group": {
|
| 492 |
+
"cls": "HousingCabinet"
|
| 493 |
+
},
|
| 494 |
+
"top_left_group": {
|
| 495 |
+
"cls": "HingeCabinet"
|
| 496 |
+
},
|
| 497 |
+
"stack_1_left_group": {
|
| 498 |
+
"cls": "SingleCabinet"
|
| 499 |
+
},
|
| 500 |
+
"dishwasher_left_group": {
|
| 501 |
+
"cls": "Dishwasher"
|
| 502 |
+
},
|
| 503 |
+
"stack_2_left_group_base": {
|
| 504 |
+
"cls": "Box"
|
| 505 |
+
},
|
| 506 |
+
"stack_2_left_group_1": {
|
| 507 |
+
"cls": "HingeCabinet"
|
| 508 |
+
},
|
| 509 |
+
"stack_2_left_group_2": {
|
| 510 |
+
"cls": "PanelCabinet"
|
| 511 |
+
},
|
| 512 |
+
"stack_3_left_group_base": {
|
| 513 |
+
"cls": "Box"
|
| 514 |
+
},
|
| 515 |
+
"stack_3_left_group_1": {
|
| 516 |
+
"cls": "HingeCabinet"
|
| 517 |
+
},
|
| 518 |
+
"stack_3_left_group_2": {
|
| 519 |
+
"cls": "Drawer"
|
| 520 |
+
},
|
| 521 |
+
"stack_3_left_group_3": {
|
| 522 |
+
"cls": "Drawer"
|
| 523 |
+
},
|
| 524 |
+
"coffee_machine_left_group": {
|
| 525 |
+
"cls": "CoffeeMachine"
|
| 526 |
+
},
|
| 527 |
+
"soap_dispenser_left_group": {
|
| 528 |
+
"cls": "Accessory"
|
| 529 |
+
},
|
| 530 |
+
"tiered_basket_left_group": {
|
| 531 |
+
"cls": "Accessory"
|
| 532 |
+
},
|
| 533 |
+
"island_island_group": {
|
| 534 |
+
"cls": "Counter"
|
| 535 |
+
},
|
| 536 |
+
"plant_island_group": {
|
| 537 |
+
"cls": "Accessory"
|
| 538 |
+
},
|
| 539 |
+
"fruit_bowl_island_group": {
|
| 540 |
+
"cls": "Accessory"
|
| 541 |
+
},
|
| 542 |
+
"salt_shaker_island_group": {
|
| 543 |
+
"cls": "Accessory"
|
| 544 |
+
},
|
| 545 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 546 |
+
"cls": "Accessory"
|
| 547 |
+
}
|
| 548 |
+
},
|
| 549 |
+
"gen_textures": {},
|
| 550 |
+
"lang": "Pick the chicken drumstick and sweet potato from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 551 |
+
"fixture_refs": {
|
| 552 |
+
"stool1": "stool_1_room",
|
| 553 |
+
"stool2": "stool_2_room",
|
| 554 |
+
"dining_counter": "island_island_group",
|
| 555 |
+
"fridge": "fridge_main_group"
|
| 556 |
+
},
|
| 557 |
+
"cam_configs": {
|
| 558 |
+
"robot0_agentview_center": {
|
| 559 |
+
"pos": [
|
| 560 |
+
-0.6,
|
| 561 |
+
0.0,
|
| 562 |
+
1.15
|
| 563 |
+
],
|
| 564 |
+
"quat": [
|
| 565 |
+
0.636945903301239,
|
| 566 |
+
0.3325185477733612,
|
| 567 |
+
-0.3199238181114197,
|
| 568 |
+
-0.6175596117973328
|
| 569 |
+
],
|
| 570 |
+
"parent_body": "mobilebase0_support"
|
| 571 |
+
},
|
| 572 |
+
"robot0_agentview_left": {
|
| 573 |
+
"pos": [
|
| 574 |
+
-0.5,
|
| 575 |
+
0.35,
|
| 576 |
+
1.05
|
| 577 |
+
],
|
| 578 |
+
"quat": [
|
| 579 |
+
0.55623853,
|
| 580 |
+
0.29935253,
|
| 581 |
+
-0.37678665,
|
| 582 |
+
-0.6775092
|
| 583 |
+
],
|
| 584 |
+
"camera_attribs": {
|
| 585 |
+
"fovy": "60"
|
| 586 |
+
},
|
| 587 |
+
"parent_body": "mobilebase0_support"
|
| 588 |
+
},
|
| 589 |
+
"robot0_agentview_right": {
|
| 590 |
+
"pos": [
|
| 591 |
+
-0.5,
|
| 592 |
+
-0.35,
|
| 593 |
+
1.05
|
| 594 |
+
],
|
| 595 |
+
"quat": [
|
| 596 |
+
0.6775091886520386,
|
| 597 |
+
0.3767866790294647,
|
| 598 |
+
-0.2993525564670563,
|
| 599 |
+
-0.55623859167099
|
| 600 |
+
],
|
| 601 |
+
"camera_attribs": {
|
| 602 |
+
"fovy": "60"
|
| 603 |
+
},
|
| 604 |
+
"parent_body": "mobilebase0_support"
|
| 605 |
+
},
|
| 606 |
+
"robot0_frontview": {
|
| 607 |
+
"pos": [
|
| 608 |
+
-0.5,
|
| 609 |
+
0,
|
| 610 |
+
0.95
|
| 611 |
+
],
|
| 612 |
+
"quat": [
|
| 613 |
+
0.6088936924934387,
|
| 614 |
+
0.3814677894115448,
|
| 615 |
+
-0.3673907518386841,
|
| 616 |
+
-0.5905545353889465
|
| 617 |
+
],
|
| 618 |
+
"camera_attribs": {
|
| 619 |
+
"fovy": "60"
|
| 620 |
+
},
|
| 621 |
+
"parent_body": "mobilebase0_support"
|
| 622 |
+
},
|
| 623 |
+
"robot0_eye_in_hand": {
|
| 624 |
+
"pos": [
|
| 625 |
+
0.05,
|
| 626 |
+
0,
|
| 627 |
+
0
|
| 628 |
+
],
|
| 629 |
+
"quat": [
|
| 630 |
+
0,
|
| 631 |
+
0.707107,
|
| 632 |
+
0.707107,
|
| 633 |
+
0
|
| 634 |
+
],
|
| 635 |
+
"parent_body": "robot0_right_hand"
|
| 636 |
+
}
|
| 637 |
+
},
|
| 638 |
+
"init_robot_base_pos": [
|
| 639 |
+
4.034587678966498,
|
| 640 |
+
-3.1612287252622417,
|
| 641 |
+
0.0
|
| 642 |
+
],
|
| 643 |
+
"init_robot_base_ori": [
|
| 644 |
+
0.0,
|
| 645 |
+
0.0,
|
| 646 |
+
3.1415889803846895
|
| 647 |
+
]
|
| 648 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000405/ep_meta.json
ADDED
|
@@ -0,0 +1,813 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.24720248007000004,
|
| 14 |
+
0.24572606796000004,
|
| 15 |
+
0.012934327725
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
0.4976678600342783,
|
| 47 |
+
1.55
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.649935139697214,
|
| 51 |
+
2.0816681711721685e-17,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.24720248007000004,
|
| 98 |
+
0.24572606796000004,
|
| 99 |
+
0.012934327725
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
0.8020727043346244,
|
| 131 |
+
0.9350000000000002
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-6.48575127626394e-05,
|
| 135 |
+
0.3075,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"potato",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"food_set1",
|
| 165 |
+
"oven_ready"
|
| 166 |
+
],
|
| 167 |
+
"groups": [
|
| 168 |
+
"vegetable"
|
| 169 |
+
],
|
| 170 |
+
"cat": "potato",
|
| 171 |
+
"split": "test",
|
| 172 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml"
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"name": "bowl",
|
| 177 |
+
"obj_groups": "bowl",
|
| 178 |
+
"graspable": true,
|
| 179 |
+
"placement": {
|
| 180 |
+
"fixture": "island_island_group",
|
| 181 |
+
"sample_region_kwargs": {
|
| 182 |
+
"ref": "stool_2_room",
|
| 183 |
+
"min_size": [
|
| 184 |
+
0.22999947099999987,
|
| 185 |
+
0.22999348179999984,
|
| 186 |
+
0.06689473639999997
|
| 187 |
+
]
|
| 188 |
+
},
|
| 189 |
+
"size": [
|
| 190 |
+
1.0,
|
| 191 |
+
0.4
|
| 192 |
+
],
|
| 193 |
+
"pos": [
|
| 194 |
+
"ref",
|
| 195 |
+
"ref"
|
| 196 |
+
]
|
| 197 |
+
},
|
| 198 |
+
"type": "object",
|
| 199 |
+
"info": {
|
| 200 |
+
"groups_containing_sampled_obj": [
|
| 201 |
+
"all",
|
| 202 |
+
"bowl",
|
| 203 |
+
"receptacle",
|
| 204 |
+
"stackable",
|
| 205 |
+
"group1",
|
| 206 |
+
"container_set2"
|
| 207 |
+
],
|
| 208 |
+
"groups": [
|
| 209 |
+
"bowl"
|
| 210 |
+
],
|
| 211 |
+
"cat": "bowl",
|
| 212 |
+
"split": "test",
|
| 213 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_5/model.xml"
|
| 214 |
+
},
|
| 215 |
+
"reset_region": {
|
| 216 |
+
"size": [
|
| 217 |
+
0.8020727043346244,
|
| 218 |
+
0.9350000000000002
|
| 219 |
+
],
|
| 220 |
+
"offset": [
|
| 221 |
+
-6.48575127626394e-05,
|
| 222 |
+
0.3075,
|
| 223 |
+
0.46
|
| 224 |
+
],
|
| 225 |
+
"name": "geom_0"
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"name": "distr1",
|
| 230 |
+
"fridgable": true,
|
| 231 |
+
"placement": {
|
| 232 |
+
"fixture": "fridge_right_group",
|
| 233 |
+
"size": [
|
| 234 |
+
0.3,
|
| 235 |
+
0.3
|
| 236 |
+
],
|
| 237 |
+
"pos": [
|
| 238 |
+
-0.3,
|
| 239 |
+
1.0
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
"type": "object",
|
| 243 |
+
"info": {
|
| 244 |
+
"groups_containing_sampled_obj": [
|
| 245 |
+
"all",
|
| 246 |
+
"broccoli",
|
| 247 |
+
"vegetable",
|
| 248 |
+
"food",
|
| 249 |
+
"in_container",
|
| 250 |
+
"oven_ready"
|
| 251 |
+
],
|
| 252 |
+
"groups": [
|
| 253 |
+
"all"
|
| 254 |
+
],
|
| 255 |
+
"cat": "broccoli",
|
| 256 |
+
"split": "test",
|
| 257 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
|
| 258 |
+
},
|
| 259 |
+
"reset_region": {
|
| 260 |
+
"offset": [
|
| 261 |
+
0.17648921902301634,
|
| 262 |
+
0.06578865892750749,
|
| 263 |
+
-0.18350830734475307
|
| 264 |
+
],
|
| 265 |
+
"size": [
|
| 266 |
+
0.4128378194384873,
|
| 267 |
+
0.5930299761881288
|
| 268 |
+
],
|
| 269 |
+
"name": "fridge_shelf0"
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"name": "distr2",
|
| 274 |
+
"fridgable": true,
|
| 275 |
+
"placement": {
|
| 276 |
+
"fixture": "fridge_right_group",
|
| 277 |
+
"size": [
|
| 278 |
+
0.3,
|
| 279 |
+
0.3
|
| 280 |
+
],
|
| 281 |
+
"pos": [
|
| 282 |
+
0.3,
|
| 283 |
+
1.0
|
| 284 |
+
]
|
| 285 |
+
},
|
| 286 |
+
"type": "object",
|
| 287 |
+
"info": {
|
| 288 |
+
"groups_containing_sampled_obj": [
|
| 289 |
+
"all",
|
| 290 |
+
"lime",
|
| 291 |
+
"vegetable",
|
| 292 |
+
"food",
|
| 293 |
+
"in_container"
|
| 294 |
+
],
|
| 295 |
+
"groups": [
|
| 296 |
+
"all"
|
| 297 |
+
],
|
| 298 |
+
"cat": "lime",
|
| 299 |
+
"split": "test",
|
| 300 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml"
|
| 301 |
+
},
|
| 302 |
+
"reset_region": {
|
| 303 |
+
"offset": [
|
| 304 |
+
0.17648921902301634,
|
| 305 |
+
0.06578865892750749,
|
| 306 |
+
-0.18350830734475307
|
| 307 |
+
],
|
| 308 |
+
"size": [
|
| 309 |
+
0.4128378194384873,
|
| 310 |
+
0.5930299761881288
|
| 311 |
+
],
|
| 312 |
+
"name": "fridge_shelf0"
|
| 313 |
+
}
|
| 314 |
+
}
|
| 315 |
+
],
|
| 316 |
+
"fixtures": {
|
| 317 |
+
"wall_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_backing_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"wall_left_room": {
|
| 324 |
+
"cls": "Wall"
|
| 325 |
+
},
|
| 326 |
+
"wall_left_backing_room": {
|
| 327 |
+
"cls": "Wall"
|
| 328 |
+
},
|
| 329 |
+
"wall_right_room": {
|
| 330 |
+
"cls": "Wall"
|
| 331 |
+
},
|
| 332 |
+
"wall_right_backing_room": {
|
| 333 |
+
"cls": "Wall"
|
| 334 |
+
},
|
| 335 |
+
"floor_room": {
|
| 336 |
+
"cls": "Floor"
|
| 337 |
+
},
|
| 338 |
+
"floor_backing_room": {
|
| 339 |
+
"cls": "Floor"
|
| 340 |
+
},
|
| 341 |
+
"utensil_rack_room": {
|
| 342 |
+
"cls": "WallAccessory"
|
| 343 |
+
},
|
| 344 |
+
"light_switch_room": {
|
| 345 |
+
"cls": "WallAccessory"
|
| 346 |
+
},
|
| 347 |
+
"light_switch_2_room": {
|
| 348 |
+
"cls": "WallAccessory"
|
| 349 |
+
},
|
| 350 |
+
"outlet_room": {
|
| 351 |
+
"cls": "WallAccessory"
|
| 352 |
+
},
|
| 353 |
+
"outlet_2_room": {
|
| 354 |
+
"cls": "WallAccessory"
|
| 355 |
+
},
|
| 356 |
+
"outlet_3_room": {
|
| 357 |
+
"cls": "WallAccessory"
|
| 358 |
+
},
|
| 359 |
+
"window_group_room": {
|
| 360 |
+
"cls": "Window"
|
| 361 |
+
},
|
| 362 |
+
"stool_1_room": {
|
| 363 |
+
"cls": "Stool"
|
| 364 |
+
},
|
| 365 |
+
"stool_2_room": {
|
| 366 |
+
"cls": "Stool"
|
| 367 |
+
},
|
| 368 |
+
"stool_3_room": {
|
| 369 |
+
"cls": "Stool"
|
| 370 |
+
},
|
| 371 |
+
"counter_corner_main_group": {
|
| 372 |
+
"cls": "Counter"
|
| 373 |
+
},
|
| 374 |
+
"counter_1_main_group": {
|
| 375 |
+
"cls": "Counter"
|
| 376 |
+
},
|
| 377 |
+
"stovetop_main_group": {
|
| 378 |
+
"cls": "Stovetop"
|
| 379 |
+
},
|
| 380 |
+
"counter_main_main_group": {
|
| 381 |
+
"cls": "Counter"
|
| 382 |
+
},
|
| 383 |
+
"counter_corner_2_main_group": {
|
| 384 |
+
"cls": "Counter"
|
| 385 |
+
},
|
| 386 |
+
"cab_corner_main_group": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"cab_corner_2_main_group": {
|
| 390 |
+
"cls": "Box"
|
| 391 |
+
},
|
| 392 |
+
"cab_1_main_group": {
|
| 393 |
+
"cls": "SingleCabinet"
|
| 394 |
+
},
|
| 395 |
+
"hood_main_group": {
|
| 396 |
+
"cls": "Hood"
|
| 397 |
+
},
|
| 398 |
+
"shelves_main_group": {
|
| 399 |
+
"cls": "OpenCabinet"
|
| 400 |
+
},
|
| 401 |
+
"cab_main_main_group": {
|
| 402 |
+
"cls": "SingleCabinet"
|
| 403 |
+
},
|
| 404 |
+
"cab_corner_3_main_group": {
|
| 405 |
+
"cls": "Box"
|
| 406 |
+
},
|
| 407 |
+
"cab_corner_4_main_group": {
|
| 408 |
+
"cls": "Box"
|
| 409 |
+
},
|
| 410 |
+
"stack_1_main_group_base": {
|
| 411 |
+
"cls": "Box"
|
| 412 |
+
},
|
| 413 |
+
"stack_1_main_group_1": {
|
| 414 |
+
"cls": "HingeCabinet"
|
| 415 |
+
},
|
| 416 |
+
"stack_1_main_group_2": {
|
| 417 |
+
"cls": "Drawer"
|
| 418 |
+
},
|
| 419 |
+
"stack_1_main_group_3": {
|
| 420 |
+
"cls": "Drawer"
|
| 421 |
+
},
|
| 422 |
+
"stack_2_main_group_base": {
|
| 423 |
+
"cls": "Box"
|
| 424 |
+
},
|
| 425 |
+
"stack_2_main_group_1": {
|
| 426 |
+
"cls": "HingeCabinet"
|
| 427 |
+
},
|
| 428 |
+
"stack_2_main_group_2": {
|
| 429 |
+
"cls": "Drawer"
|
| 430 |
+
},
|
| 431 |
+
"stack_2_main_group_3": {
|
| 432 |
+
"cls": "Drawer"
|
| 433 |
+
},
|
| 434 |
+
"stack_3_main_group_base": {
|
| 435 |
+
"cls": "Box"
|
| 436 |
+
},
|
| 437 |
+
"stack_3_main_group_1": {
|
| 438 |
+
"cls": "Drawer"
|
| 439 |
+
},
|
| 440 |
+
"stack_3_main_group_2": {
|
| 441 |
+
"cls": "Drawer"
|
| 442 |
+
},
|
| 443 |
+
"stack_3_main_group_3": {
|
| 444 |
+
"cls": "Drawer"
|
| 445 |
+
},
|
| 446 |
+
"stack_3_main_group_4": {
|
| 447 |
+
"cls": "Drawer"
|
| 448 |
+
},
|
| 449 |
+
"stack_4_main_group_base": {
|
| 450 |
+
"cls": "Box"
|
| 451 |
+
},
|
| 452 |
+
"stack_4_main_group_1": {
|
| 453 |
+
"cls": "HingeCabinet"
|
| 454 |
+
},
|
| 455 |
+
"stack_5_main_group_base": {
|
| 456 |
+
"cls": "Box"
|
| 457 |
+
},
|
| 458 |
+
"stack_5_main_group_1": {
|
| 459 |
+
"cls": "HingeCabinet"
|
| 460 |
+
},
|
| 461 |
+
"stack_5_main_group_2": {
|
| 462 |
+
"cls": "Drawer"
|
| 463 |
+
},
|
| 464 |
+
"stack_5_main_group_3": {
|
| 465 |
+
"cls": "Drawer"
|
| 466 |
+
},
|
| 467 |
+
"stack_6_main_group_base": {
|
| 468 |
+
"cls": "Box"
|
| 469 |
+
},
|
| 470 |
+
"stack_6_main_group_1": {
|
| 471 |
+
"cls": "SingleCabinet"
|
| 472 |
+
},
|
| 473 |
+
"stack_6_main_group_2": {
|
| 474 |
+
"cls": "Drawer"
|
| 475 |
+
},
|
| 476 |
+
"knife_block_main_group": {
|
| 477 |
+
"cls": "Accessory"
|
| 478 |
+
},
|
| 479 |
+
"paper_towel_main_group": {
|
| 480 |
+
"cls": "Accessory"
|
| 481 |
+
},
|
| 482 |
+
"utensil_set_main_group": {
|
| 483 |
+
"cls": "Accessory"
|
| 484 |
+
},
|
| 485 |
+
"oil_bottle_main_group": {
|
| 486 |
+
"cls": "Accessory"
|
| 487 |
+
},
|
| 488 |
+
"glass_cup_main_group": {
|
| 489 |
+
"cls": "Accessory"
|
| 490 |
+
},
|
| 491 |
+
"glass_cup_2_main_group": {
|
| 492 |
+
"cls": "Accessory"
|
| 493 |
+
},
|
| 494 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 495 |
+
"cls": "Accessory"
|
| 496 |
+
},
|
| 497 |
+
"sink_island_group": {
|
| 498 |
+
"cls": "Sink"
|
| 499 |
+
},
|
| 500 |
+
"island_island_group": {
|
| 501 |
+
"cls": "Counter"
|
| 502 |
+
},
|
| 503 |
+
"island_stack_1_island_group_base": {
|
| 504 |
+
"cls": "Box"
|
| 505 |
+
},
|
| 506 |
+
"island_stack_1_island_group_1": {
|
| 507 |
+
"cls": "HingeCabinet"
|
| 508 |
+
},
|
| 509 |
+
"island_stack_1_island_group_2": {
|
| 510 |
+
"cls": "PanelCabinet"
|
| 511 |
+
},
|
| 512 |
+
"dishwasher_island_group": {
|
| 513 |
+
"cls": "Dishwasher"
|
| 514 |
+
},
|
| 515 |
+
"island_panel_cab_right_island_group_base": {
|
| 516 |
+
"cls": "Box"
|
| 517 |
+
},
|
| 518 |
+
"island_panel_cab_right_island_group_1": {
|
| 519 |
+
"cls": "PanelCabinet"
|
| 520 |
+
},
|
| 521 |
+
"island_cab_right_island_group_base": {
|
| 522 |
+
"cls": "Box"
|
| 523 |
+
},
|
| 524 |
+
"island_cab_right_island_group_1": {
|
| 525 |
+
"cls": "Drawer"
|
| 526 |
+
},
|
| 527 |
+
"island_cab_right_island_group_2": {
|
| 528 |
+
"cls": "Drawer"
|
| 529 |
+
},
|
| 530 |
+
"island_cab_right_island_group_3": {
|
| 531 |
+
"cls": "Drawer"
|
| 532 |
+
},
|
| 533 |
+
"island_cab_right_island_group_4": {
|
| 534 |
+
"cls": "Drawer"
|
| 535 |
+
},
|
| 536 |
+
"island_panel_cab_left_island_group_base": {
|
| 537 |
+
"cls": "Box"
|
| 538 |
+
},
|
| 539 |
+
"island_panel_cab_left_island_group_1": {
|
| 540 |
+
"cls": "PanelCabinet"
|
| 541 |
+
},
|
| 542 |
+
"island_base_box_island_group": {
|
| 543 |
+
"cls": "Box"
|
| 544 |
+
},
|
| 545 |
+
"plant_island_group": {
|
| 546 |
+
"cls": "Accessory"
|
| 547 |
+
},
|
| 548 |
+
"soap_dispenser_island_group": {
|
| 549 |
+
"cls": "Accessory"
|
| 550 |
+
},
|
| 551 |
+
"fruit_bowl_island_group": {
|
| 552 |
+
"cls": "Accessory"
|
| 553 |
+
},
|
| 554 |
+
"salt_shaker_island_group": {
|
| 555 |
+
"cls": "Accessory"
|
| 556 |
+
},
|
| 557 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 558 |
+
"cls": "Accessory"
|
| 559 |
+
},
|
| 560 |
+
"counter_1_left_group": {
|
| 561 |
+
"cls": "Counter"
|
| 562 |
+
},
|
| 563 |
+
"counter_corner_left_group": {
|
| 564 |
+
"cls": "Counter"
|
| 565 |
+
},
|
| 566 |
+
"bottom_left_group_base": {
|
| 567 |
+
"cls": "Box"
|
| 568 |
+
},
|
| 569 |
+
"bottom_left_group_1": {
|
| 570 |
+
"cls": "Drawer"
|
| 571 |
+
},
|
| 572 |
+
"bottom_left_group_2": {
|
| 573 |
+
"cls": "Drawer"
|
| 574 |
+
},
|
| 575 |
+
"oven_left_group": {
|
| 576 |
+
"cls": "Oven"
|
| 577 |
+
},
|
| 578 |
+
"oven_housing_left_group": {
|
| 579 |
+
"cls": "HousingCabinet"
|
| 580 |
+
},
|
| 581 |
+
"microwave_left_group": {
|
| 582 |
+
"cls": "Microwave"
|
| 583 |
+
},
|
| 584 |
+
"micro_housing_left_group": {
|
| 585 |
+
"cls": "HousingCabinet"
|
| 586 |
+
},
|
| 587 |
+
"top_left_group": {
|
| 588 |
+
"cls": "HingeCabinet"
|
| 589 |
+
},
|
| 590 |
+
"stack_1_left_group_base": {
|
| 591 |
+
"cls": "Box"
|
| 592 |
+
},
|
| 593 |
+
"stack_1_left_group_1": {
|
| 594 |
+
"cls": "SingleCabinet"
|
| 595 |
+
},
|
| 596 |
+
"stack_1_left_group_2": {
|
| 597 |
+
"cls": "Drawer"
|
| 598 |
+
},
|
| 599 |
+
"stack_2_left_group_base": {
|
| 600 |
+
"cls": "Box"
|
| 601 |
+
},
|
| 602 |
+
"stack_2_left_group_1": {
|
| 603 |
+
"cls": "HingeCabinet"
|
| 604 |
+
},
|
| 605 |
+
"stack_2_left_group_2": {
|
| 606 |
+
"cls": "Drawer"
|
| 607 |
+
},
|
| 608 |
+
"stack_2_left_group_3": {
|
| 609 |
+
"cls": "Drawer"
|
| 610 |
+
},
|
| 611 |
+
"stack_3_left_group_base": {
|
| 612 |
+
"cls": "Box"
|
| 613 |
+
},
|
| 614 |
+
"stack_3_left_group_1": {
|
| 615 |
+
"cls": "Drawer"
|
| 616 |
+
},
|
| 617 |
+
"stack_3_left_group_2": {
|
| 618 |
+
"cls": "Drawer"
|
| 619 |
+
},
|
| 620 |
+
"stack_3_left_group_3": {
|
| 621 |
+
"cls": "Drawer"
|
| 622 |
+
},
|
| 623 |
+
"stack_3_left_group_4": {
|
| 624 |
+
"cls": "Drawer"
|
| 625 |
+
},
|
| 626 |
+
"shelves_left_group": {
|
| 627 |
+
"cls": "OpenCabinet"
|
| 628 |
+
},
|
| 629 |
+
"cab_2_left_group": {
|
| 630 |
+
"cls": "SingleCabinet"
|
| 631 |
+
},
|
| 632 |
+
"toaster_oven_left_group": {
|
| 633 |
+
"cls": "ToasterOven"
|
| 634 |
+
},
|
| 635 |
+
"paprika_left_group": {
|
| 636 |
+
"cls": "Accessory"
|
| 637 |
+
},
|
| 638 |
+
"cinnamon_left_group": {
|
| 639 |
+
"cls": "Accessory"
|
| 640 |
+
},
|
| 641 |
+
"turmeric_left_group": {
|
| 642 |
+
"cls": "Accessory"
|
| 643 |
+
},
|
| 644 |
+
"jar_left_group": {
|
| 645 |
+
"cls": "Accessory"
|
| 646 |
+
},
|
| 647 |
+
"jar_left_group_auxiliary_left_group": {
|
| 648 |
+
"cls": "Accessory"
|
| 649 |
+
},
|
| 650 |
+
"counter_1_right_group": {
|
| 651 |
+
"cls": "Counter"
|
| 652 |
+
},
|
| 653 |
+
"counter_corner_right_group": {
|
| 654 |
+
"cls": "Counter"
|
| 655 |
+
},
|
| 656 |
+
"fridge_right_group": {
|
| 657 |
+
"cls": "FridgeSideBySide"
|
| 658 |
+
},
|
| 659 |
+
"fridge_housing_right_group": {
|
| 660 |
+
"cls": "HousingCabinet"
|
| 661 |
+
},
|
| 662 |
+
"stack_1_right_group_base": {
|
| 663 |
+
"cls": "Box"
|
| 664 |
+
},
|
| 665 |
+
"stack_1_right_group_1": {
|
| 666 |
+
"cls": "HingeCabinet"
|
| 667 |
+
},
|
| 668 |
+
"stack_1_right_group_2": {
|
| 669 |
+
"cls": "Drawer"
|
| 670 |
+
},
|
| 671 |
+
"stack_1_right_group_3": {
|
| 672 |
+
"cls": "Drawer"
|
| 673 |
+
},
|
| 674 |
+
"stack_2_right_group_base": {
|
| 675 |
+
"cls": "Box"
|
| 676 |
+
},
|
| 677 |
+
"stack_2_right_group_1": {
|
| 678 |
+
"cls": "SingleCabinet"
|
| 679 |
+
},
|
| 680 |
+
"stack_2_right_group_2": {
|
| 681 |
+
"cls": "Drawer"
|
| 682 |
+
},
|
| 683 |
+
"stack_3_right_group_base": {
|
| 684 |
+
"cls": "Box"
|
| 685 |
+
},
|
| 686 |
+
"stack_3_right_group_1": {
|
| 687 |
+
"cls": "Drawer"
|
| 688 |
+
},
|
| 689 |
+
"stack_3_right_group_2": {
|
| 690 |
+
"cls": "Drawer"
|
| 691 |
+
},
|
| 692 |
+
"stack_3_right_group_3": {
|
| 693 |
+
"cls": "Drawer"
|
| 694 |
+
},
|
| 695 |
+
"stack_3_right_group_4": {
|
| 696 |
+
"cls": "Drawer"
|
| 697 |
+
},
|
| 698 |
+
"cab_1_right_group": {
|
| 699 |
+
"cls": "HingeCabinet"
|
| 700 |
+
},
|
| 701 |
+
"cab_2_right_group": {
|
| 702 |
+
"cls": "HingeCabinet"
|
| 703 |
+
},
|
| 704 |
+
"fridge_cab_right_group": {
|
| 705 |
+
"cls": "HingeCabinet"
|
| 706 |
+
},
|
| 707 |
+
"coffee_machine_right_group": {
|
| 708 |
+
"cls": "CoffeeMachine"
|
| 709 |
+
},
|
| 710 |
+
"toaster_right_group": {
|
| 711 |
+
"cls": "Toaster"
|
| 712 |
+
}
|
| 713 |
+
},
|
| 714 |
+
"gen_textures": {},
|
| 715 |
+
"lang": "Pick the chicken drumstick and potato from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 716 |
+
"fixture_refs": {
|
| 717 |
+
"stool1": "stool_1_room",
|
| 718 |
+
"stool2": "stool_2_room",
|
| 719 |
+
"dining_counter": "island_island_group",
|
| 720 |
+
"fridge": "fridge_right_group"
|
| 721 |
+
},
|
| 722 |
+
"cam_configs": {
|
| 723 |
+
"robot0_agentview_center": {
|
| 724 |
+
"pos": [
|
| 725 |
+
-0.6,
|
| 726 |
+
0.0,
|
| 727 |
+
1.15
|
| 728 |
+
],
|
| 729 |
+
"quat": [
|
| 730 |
+
0.636945903301239,
|
| 731 |
+
0.3325185477733612,
|
| 732 |
+
-0.3199238181114197,
|
| 733 |
+
-0.6175596117973328
|
| 734 |
+
],
|
| 735 |
+
"parent_body": "mobilebase0_support"
|
| 736 |
+
},
|
| 737 |
+
"robot0_agentview_left": {
|
| 738 |
+
"pos": [
|
| 739 |
+
-0.5,
|
| 740 |
+
0.35,
|
| 741 |
+
1.05
|
| 742 |
+
],
|
| 743 |
+
"quat": [
|
| 744 |
+
0.55623853,
|
| 745 |
+
0.29935253,
|
| 746 |
+
-0.37678665,
|
| 747 |
+
-0.6775092
|
| 748 |
+
],
|
| 749 |
+
"camera_attribs": {
|
| 750 |
+
"fovy": "60"
|
| 751 |
+
},
|
| 752 |
+
"parent_body": "mobilebase0_support"
|
| 753 |
+
},
|
| 754 |
+
"robot0_agentview_right": {
|
| 755 |
+
"pos": [
|
| 756 |
+
-0.5,
|
| 757 |
+
-0.35,
|
| 758 |
+
1.05
|
| 759 |
+
],
|
| 760 |
+
"quat": [
|
| 761 |
+
0.6775091886520386,
|
| 762 |
+
0.3767866790294647,
|
| 763 |
+
-0.2993525564670563,
|
| 764 |
+
-0.55623859167099
|
| 765 |
+
],
|
| 766 |
+
"camera_attribs": {
|
| 767 |
+
"fovy": "60"
|
| 768 |
+
},
|
| 769 |
+
"parent_body": "mobilebase0_support"
|
| 770 |
+
},
|
| 771 |
+
"robot0_frontview": {
|
| 772 |
+
"pos": [
|
| 773 |
+
-0.5,
|
| 774 |
+
0,
|
| 775 |
+
0.95
|
| 776 |
+
],
|
| 777 |
+
"quat": [
|
| 778 |
+
0.6088936924934387,
|
| 779 |
+
0.3814677894115448,
|
| 780 |
+
-0.3673907518386841,
|
| 781 |
+
-0.5905545353889465
|
| 782 |
+
],
|
| 783 |
+
"camera_attribs": {
|
| 784 |
+
"fovy": "60"
|
| 785 |
+
},
|
| 786 |
+
"parent_body": "mobilebase0_support"
|
| 787 |
+
},
|
| 788 |
+
"robot0_eye_in_hand": {
|
| 789 |
+
"pos": [
|
| 790 |
+
0.05,
|
| 791 |
+
0,
|
| 792 |
+
0
|
| 793 |
+
],
|
| 794 |
+
"quat": [
|
| 795 |
+
0,
|
| 796 |
+
0.707107,
|
| 797 |
+
0.707107,
|
| 798 |
+
0
|
| 799 |
+
],
|
| 800 |
+
"parent_body": "robot0_right_hand"
|
| 801 |
+
}
|
| 802 |
+
},
|
| 803 |
+
"init_robot_base_pos": [
|
| 804 |
+
3.0805831923832954,
|
| 805 |
+
-3.812450538019989,
|
| 806 |
+
0.0
|
| 807 |
+
],
|
| 808 |
+
"init_robot_base_ori": [
|
| 809 |
+
0.0,
|
| 810 |
+
0.0,
|
| 811 |
+
7.85388898038469
|
| 812 |
+
]
|
| 813 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000412/ep_meta.json
ADDED
|
@@ -0,0 +1,807 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.247940875935,
|
| 14 |
+
0.24539034402000004,
|
| 15 |
+
0.01667049282
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_8/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
0.4976678600342783,
|
| 47 |
+
1.55
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.649935139697214,
|
| 51 |
+
2.0816681711721685e-17,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.244743326685,
|
| 98 |
+
0.24474403597500002,
|
| 99 |
+
0.023217144615000004
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
0.8020727043346244,
|
| 131 |
+
0.9350000000000002
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-6.48575127626394e-05,
|
| 135 |
+
0.3075,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"eggplant",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"oven_ready"
|
| 165 |
+
],
|
| 166 |
+
"groups": [
|
| 167 |
+
"vegetable"
|
| 168 |
+
],
|
| 169 |
+
"cat": "eggplant",
|
| 170 |
+
"split": "test",
|
| 171 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "bowl",
|
| 176 |
+
"obj_groups": "bowl",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"placement": {
|
| 179 |
+
"fixture": "island_island_group",
|
| 180 |
+
"sample_region_kwargs": {
|
| 181 |
+
"ref": "stool_2_room",
|
| 182 |
+
"min_size": [
|
| 183 |
+
0.2399963735999999,
|
| 184 |
+
0.23998859999999989,
|
| 185 |
+
0.09870963839999995
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"size": [
|
| 189 |
+
1.0,
|
| 190 |
+
0.4
|
| 191 |
+
],
|
| 192 |
+
"pos": [
|
| 193 |
+
"ref",
|
| 194 |
+
"ref"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"type": "object",
|
| 198 |
+
"info": {
|
| 199 |
+
"groups_containing_sampled_obj": [
|
| 200 |
+
"all",
|
| 201 |
+
"bowl",
|
| 202 |
+
"stackable",
|
| 203 |
+
"receptacle",
|
| 204 |
+
"group1",
|
| 205 |
+
"container_set2"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"bowl"
|
| 209 |
+
],
|
| 210 |
+
"cat": "bowl",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
|
| 213 |
+
},
|
| 214 |
+
"reset_region": {
|
| 215 |
+
"size": [
|
| 216 |
+
0.8020727043346244,
|
| 217 |
+
0.9350000000000002
|
| 218 |
+
],
|
| 219 |
+
"offset": [
|
| 220 |
+
-6.48575127626394e-05,
|
| 221 |
+
0.3075,
|
| 222 |
+
0.46
|
| 223 |
+
],
|
| 224 |
+
"name": "geom_0"
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"name": "distr1",
|
| 229 |
+
"fridgable": true,
|
| 230 |
+
"placement": {
|
| 231 |
+
"fixture": "fridge_right_group",
|
| 232 |
+
"size": [
|
| 233 |
+
0.3,
|
| 234 |
+
0.3
|
| 235 |
+
],
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.3,
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"type": "object",
|
| 242 |
+
"info": {
|
| 243 |
+
"groups_containing_sampled_obj": [
|
| 244 |
+
"all",
|
| 245 |
+
"pitcher",
|
| 246 |
+
"receptacle"
|
| 247 |
+
],
|
| 248 |
+
"groups": [
|
| 249 |
+
"all"
|
| 250 |
+
],
|
| 251 |
+
"cat": "pitcher",
|
| 252 |
+
"split": "test",
|
| 253 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher009/model.xml"
|
| 254 |
+
},
|
| 255 |
+
"reset_region": {
|
| 256 |
+
"offset": [
|
| 257 |
+
0.17648921902301634,
|
| 258 |
+
0.09444338166204168,
|
| 259 |
+
0.5092108047621914
|
| 260 |
+
],
|
| 261 |
+
"size": [
|
| 262 |
+
0.4128378194384873,
|
| 263 |
+
0.5358628189113166
|
| 264 |
+
],
|
| 265 |
+
"name": "fridge_shelf2"
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"name": "distr2",
|
| 270 |
+
"fridgable": true,
|
| 271 |
+
"placement": {
|
| 272 |
+
"fixture": "fridge_right_group",
|
| 273 |
+
"size": [
|
| 274 |
+
0.3,
|
| 275 |
+
0.3
|
| 276 |
+
],
|
| 277 |
+
"pos": [
|
| 278 |
+
0.3,
|
| 279 |
+
1.0
|
| 280 |
+
]
|
| 281 |
+
},
|
| 282 |
+
"type": "object",
|
| 283 |
+
"info": {
|
| 284 |
+
"groups_containing_sampled_obj": [
|
| 285 |
+
"all",
|
| 286 |
+
"boxed_food",
|
| 287 |
+
"packaged_food"
|
| 288 |
+
],
|
| 289 |
+
"groups": [
|
| 290 |
+
"all"
|
| 291 |
+
],
|
| 292 |
+
"cat": "boxed_food",
|
| 293 |
+
"split": "test",
|
| 294 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_7/model.xml"
|
| 295 |
+
},
|
| 296 |
+
"reset_region": {
|
| 297 |
+
"offset": [
|
| 298 |
+
0.17648921902301634,
|
| 299 |
+
0.09444338166204168,
|
| 300 |
+
0.5092108047621914
|
| 301 |
+
],
|
| 302 |
+
"size": [
|
| 303 |
+
0.4128378194384873,
|
| 304 |
+
0.5358628189113166
|
| 305 |
+
],
|
| 306 |
+
"name": "fridge_shelf2"
|
| 307 |
+
}
|
| 308 |
+
}
|
| 309 |
+
],
|
| 310 |
+
"fixtures": {
|
| 311 |
+
"wall_room": {
|
| 312 |
+
"cls": "Wall"
|
| 313 |
+
},
|
| 314 |
+
"wall_backing_room": {
|
| 315 |
+
"cls": "Wall"
|
| 316 |
+
},
|
| 317 |
+
"wall_left_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_left_backing_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"wall_right_room": {
|
| 324 |
+
"cls": "Wall"
|
| 325 |
+
},
|
| 326 |
+
"wall_right_backing_room": {
|
| 327 |
+
"cls": "Wall"
|
| 328 |
+
},
|
| 329 |
+
"floor_room": {
|
| 330 |
+
"cls": "Floor"
|
| 331 |
+
},
|
| 332 |
+
"floor_backing_room": {
|
| 333 |
+
"cls": "Floor"
|
| 334 |
+
},
|
| 335 |
+
"utensil_rack_room": {
|
| 336 |
+
"cls": "WallAccessory"
|
| 337 |
+
},
|
| 338 |
+
"light_switch_room": {
|
| 339 |
+
"cls": "WallAccessory"
|
| 340 |
+
},
|
| 341 |
+
"light_switch_2_room": {
|
| 342 |
+
"cls": "WallAccessory"
|
| 343 |
+
},
|
| 344 |
+
"outlet_room": {
|
| 345 |
+
"cls": "WallAccessory"
|
| 346 |
+
},
|
| 347 |
+
"outlet_2_room": {
|
| 348 |
+
"cls": "WallAccessory"
|
| 349 |
+
},
|
| 350 |
+
"outlet_3_room": {
|
| 351 |
+
"cls": "WallAccessory"
|
| 352 |
+
},
|
| 353 |
+
"window_group_room": {
|
| 354 |
+
"cls": "Window"
|
| 355 |
+
},
|
| 356 |
+
"stool_1_room": {
|
| 357 |
+
"cls": "Stool"
|
| 358 |
+
},
|
| 359 |
+
"stool_2_room": {
|
| 360 |
+
"cls": "Stool"
|
| 361 |
+
},
|
| 362 |
+
"stool_3_room": {
|
| 363 |
+
"cls": "Stool"
|
| 364 |
+
},
|
| 365 |
+
"counter_corner_main_group": {
|
| 366 |
+
"cls": "Counter"
|
| 367 |
+
},
|
| 368 |
+
"counter_1_main_group": {
|
| 369 |
+
"cls": "Counter"
|
| 370 |
+
},
|
| 371 |
+
"stovetop_main_group": {
|
| 372 |
+
"cls": "Stovetop"
|
| 373 |
+
},
|
| 374 |
+
"counter_main_main_group": {
|
| 375 |
+
"cls": "Counter"
|
| 376 |
+
},
|
| 377 |
+
"counter_corner_2_main_group": {
|
| 378 |
+
"cls": "Counter"
|
| 379 |
+
},
|
| 380 |
+
"cab_corner_main_group": {
|
| 381 |
+
"cls": "Box"
|
| 382 |
+
},
|
| 383 |
+
"cab_corner_2_main_group": {
|
| 384 |
+
"cls": "Box"
|
| 385 |
+
},
|
| 386 |
+
"cab_1_main_group": {
|
| 387 |
+
"cls": "SingleCabinet"
|
| 388 |
+
},
|
| 389 |
+
"hood_main_group": {
|
| 390 |
+
"cls": "Hood"
|
| 391 |
+
},
|
| 392 |
+
"shelves_main_group": {
|
| 393 |
+
"cls": "OpenCabinet"
|
| 394 |
+
},
|
| 395 |
+
"cab_main_main_group": {
|
| 396 |
+
"cls": "SingleCabinet"
|
| 397 |
+
},
|
| 398 |
+
"cab_corner_3_main_group": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"cab_corner_4_main_group": {
|
| 402 |
+
"cls": "Box"
|
| 403 |
+
},
|
| 404 |
+
"stack_1_main_group_base": {
|
| 405 |
+
"cls": "Box"
|
| 406 |
+
},
|
| 407 |
+
"stack_1_main_group_1": {
|
| 408 |
+
"cls": "HingeCabinet"
|
| 409 |
+
},
|
| 410 |
+
"stack_1_main_group_2": {
|
| 411 |
+
"cls": "Drawer"
|
| 412 |
+
},
|
| 413 |
+
"stack_1_main_group_3": {
|
| 414 |
+
"cls": "Drawer"
|
| 415 |
+
},
|
| 416 |
+
"stack_2_main_group_base": {
|
| 417 |
+
"cls": "Box"
|
| 418 |
+
},
|
| 419 |
+
"stack_2_main_group_1": {
|
| 420 |
+
"cls": "HingeCabinet"
|
| 421 |
+
},
|
| 422 |
+
"stack_2_main_group_2": {
|
| 423 |
+
"cls": "Drawer"
|
| 424 |
+
},
|
| 425 |
+
"stack_2_main_group_3": {
|
| 426 |
+
"cls": "Drawer"
|
| 427 |
+
},
|
| 428 |
+
"stack_3_main_group_base": {
|
| 429 |
+
"cls": "Box"
|
| 430 |
+
},
|
| 431 |
+
"stack_3_main_group_1": {
|
| 432 |
+
"cls": "Drawer"
|
| 433 |
+
},
|
| 434 |
+
"stack_3_main_group_2": {
|
| 435 |
+
"cls": "Drawer"
|
| 436 |
+
},
|
| 437 |
+
"stack_3_main_group_3": {
|
| 438 |
+
"cls": "Drawer"
|
| 439 |
+
},
|
| 440 |
+
"stack_3_main_group_4": {
|
| 441 |
+
"cls": "Drawer"
|
| 442 |
+
},
|
| 443 |
+
"stack_4_main_group_base": {
|
| 444 |
+
"cls": "Box"
|
| 445 |
+
},
|
| 446 |
+
"stack_4_main_group_1": {
|
| 447 |
+
"cls": "HingeCabinet"
|
| 448 |
+
},
|
| 449 |
+
"stack_5_main_group_base": {
|
| 450 |
+
"cls": "Box"
|
| 451 |
+
},
|
| 452 |
+
"stack_5_main_group_1": {
|
| 453 |
+
"cls": "HingeCabinet"
|
| 454 |
+
},
|
| 455 |
+
"stack_5_main_group_2": {
|
| 456 |
+
"cls": "Drawer"
|
| 457 |
+
},
|
| 458 |
+
"stack_5_main_group_3": {
|
| 459 |
+
"cls": "Drawer"
|
| 460 |
+
},
|
| 461 |
+
"stack_6_main_group_base": {
|
| 462 |
+
"cls": "Box"
|
| 463 |
+
},
|
| 464 |
+
"stack_6_main_group_1": {
|
| 465 |
+
"cls": "SingleCabinet"
|
| 466 |
+
},
|
| 467 |
+
"stack_6_main_group_2": {
|
| 468 |
+
"cls": "Drawer"
|
| 469 |
+
},
|
| 470 |
+
"knife_block_main_group": {
|
| 471 |
+
"cls": "Accessory"
|
| 472 |
+
},
|
| 473 |
+
"paper_towel_main_group": {
|
| 474 |
+
"cls": "Accessory"
|
| 475 |
+
},
|
| 476 |
+
"utensil_set_main_group": {
|
| 477 |
+
"cls": "Accessory"
|
| 478 |
+
},
|
| 479 |
+
"oil_bottle_main_group": {
|
| 480 |
+
"cls": "Accessory"
|
| 481 |
+
},
|
| 482 |
+
"glass_cup_main_group": {
|
| 483 |
+
"cls": "Accessory"
|
| 484 |
+
},
|
| 485 |
+
"glass_cup_2_main_group": {
|
| 486 |
+
"cls": "Accessory"
|
| 487 |
+
},
|
| 488 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 489 |
+
"cls": "Accessory"
|
| 490 |
+
},
|
| 491 |
+
"sink_island_group": {
|
| 492 |
+
"cls": "Sink"
|
| 493 |
+
},
|
| 494 |
+
"island_island_group": {
|
| 495 |
+
"cls": "Counter"
|
| 496 |
+
},
|
| 497 |
+
"island_stack_1_island_group_base": {
|
| 498 |
+
"cls": "Box"
|
| 499 |
+
},
|
| 500 |
+
"island_stack_1_island_group_1": {
|
| 501 |
+
"cls": "HingeCabinet"
|
| 502 |
+
},
|
| 503 |
+
"island_stack_1_island_group_2": {
|
| 504 |
+
"cls": "PanelCabinet"
|
| 505 |
+
},
|
| 506 |
+
"dishwasher_island_group": {
|
| 507 |
+
"cls": "Dishwasher"
|
| 508 |
+
},
|
| 509 |
+
"island_panel_cab_right_island_group_base": {
|
| 510 |
+
"cls": "Box"
|
| 511 |
+
},
|
| 512 |
+
"island_panel_cab_right_island_group_1": {
|
| 513 |
+
"cls": "PanelCabinet"
|
| 514 |
+
},
|
| 515 |
+
"island_cab_right_island_group_base": {
|
| 516 |
+
"cls": "Box"
|
| 517 |
+
},
|
| 518 |
+
"island_cab_right_island_group_1": {
|
| 519 |
+
"cls": "Drawer"
|
| 520 |
+
},
|
| 521 |
+
"island_cab_right_island_group_2": {
|
| 522 |
+
"cls": "Drawer"
|
| 523 |
+
},
|
| 524 |
+
"island_cab_right_island_group_3": {
|
| 525 |
+
"cls": "Drawer"
|
| 526 |
+
},
|
| 527 |
+
"island_cab_right_island_group_4": {
|
| 528 |
+
"cls": "Drawer"
|
| 529 |
+
},
|
| 530 |
+
"island_panel_cab_left_island_group_base": {
|
| 531 |
+
"cls": "Box"
|
| 532 |
+
},
|
| 533 |
+
"island_panel_cab_left_island_group_1": {
|
| 534 |
+
"cls": "PanelCabinet"
|
| 535 |
+
},
|
| 536 |
+
"island_base_box_island_group": {
|
| 537 |
+
"cls": "Box"
|
| 538 |
+
},
|
| 539 |
+
"plant_island_group": {
|
| 540 |
+
"cls": "Accessory"
|
| 541 |
+
},
|
| 542 |
+
"soap_dispenser_island_group": {
|
| 543 |
+
"cls": "Accessory"
|
| 544 |
+
},
|
| 545 |
+
"fruit_bowl_island_group": {
|
| 546 |
+
"cls": "Accessory"
|
| 547 |
+
},
|
| 548 |
+
"salt_shaker_island_group": {
|
| 549 |
+
"cls": "Accessory"
|
| 550 |
+
},
|
| 551 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 552 |
+
"cls": "Accessory"
|
| 553 |
+
},
|
| 554 |
+
"counter_1_left_group": {
|
| 555 |
+
"cls": "Counter"
|
| 556 |
+
},
|
| 557 |
+
"counter_corner_left_group": {
|
| 558 |
+
"cls": "Counter"
|
| 559 |
+
},
|
| 560 |
+
"bottom_left_group_base": {
|
| 561 |
+
"cls": "Box"
|
| 562 |
+
},
|
| 563 |
+
"bottom_left_group_1": {
|
| 564 |
+
"cls": "Drawer"
|
| 565 |
+
},
|
| 566 |
+
"bottom_left_group_2": {
|
| 567 |
+
"cls": "Drawer"
|
| 568 |
+
},
|
| 569 |
+
"oven_left_group": {
|
| 570 |
+
"cls": "Oven"
|
| 571 |
+
},
|
| 572 |
+
"oven_housing_left_group": {
|
| 573 |
+
"cls": "HousingCabinet"
|
| 574 |
+
},
|
| 575 |
+
"microwave_left_group": {
|
| 576 |
+
"cls": "Microwave"
|
| 577 |
+
},
|
| 578 |
+
"micro_housing_left_group": {
|
| 579 |
+
"cls": "HousingCabinet"
|
| 580 |
+
},
|
| 581 |
+
"top_left_group": {
|
| 582 |
+
"cls": "HingeCabinet"
|
| 583 |
+
},
|
| 584 |
+
"stack_1_left_group_base": {
|
| 585 |
+
"cls": "Box"
|
| 586 |
+
},
|
| 587 |
+
"stack_1_left_group_1": {
|
| 588 |
+
"cls": "SingleCabinet"
|
| 589 |
+
},
|
| 590 |
+
"stack_1_left_group_2": {
|
| 591 |
+
"cls": "Drawer"
|
| 592 |
+
},
|
| 593 |
+
"stack_2_left_group_base": {
|
| 594 |
+
"cls": "Box"
|
| 595 |
+
},
|
| 596 |
+
"stack_2_left_group_1": {
|
| 597 |
+
"cls": "HingeCabinet"
|
| 598 |
+
},
|
| 599 |
+
"stack_2_left_group_2": {
|
| 600 |
+
"cls": "Drawer"
|
| 601 |
+
},
|
| 602 |
+
"stack_2_left_group_3": {
|
| 603 |
+
"cls": "Drawer"
|
| 604 |
+
},
|
| 605 |
+
"stack_3_left_group_base": {
|
| 606 |
+
"cls": "Box"
|
| 607 |
+
},
|
| 608 |
+
"stack_3_left_group_1": {
|
| 609 |
+
"cls": "Drawer"
|
| 610 |
+
},
|
| 611 |
+
"stack_3_left_group_2": {
|
| 612 |
+
"cls": "Drawer"
|
| 613 |
+
},
|
| 614 |
+
"stack_3_left_group_3": {
|
| 615 |
+
"cls": "Drawer"
|
| 616 |
+
},
|
| 617 |
+
"stack_3_left_group_4": {
|
| 618 |
+
"cls": "Drawer"
|
| 619 |
+
},
|
| 620 |
+
"shelves_left_group": {
|
| 621 |
+
"cls": "OpenCabinet"
|
| 622 |
+
},
|
| 623 |
+
"cab_2_left_group": {
|
| 624 |
+
"cls": "SingleCabinet"
|
| 625 |
+
},
|
| 626 |
+
"toaster_oven_left_group": {
|
| 627 |
+
"cls": "ToasterOven"
|
| 628 |
+
},
|
| 629 |
+
"paprika_left_group": {
|
| 630 |
+
"cls": "Accessory"
|
| 631 |
+
},
|
| 632 |
+
"cinnamon_left_group": {
|
| 633 |
+
"cls": "Accessory"
|
| 634 |
+
},
|
| 635 |
+
"turmeric_left_group": {
|
| 636 |
+
"cls": "Accessory"
|
| 637 |
+
},
|
| 638 |
+
"jar_left_group": {
|
| 639 |
+
"cls": "Accessory"
|
| 640 |
+
},
|
| 641 |
+
"jar_left_group_auxiliary_left_group": {
|
| 642 |
+
"cls": "Accessory"
|
| 643 |
+
},
|
| 644 |
+
"counter_1_right_group": {
|
| 645 |
+
"cls": "Counter"
|
| 646 |
+
},
|
| 647 |
+
"counter_corner_right_group": {
|
| 648 |
+
"cls": "Counter"
|
| 649 |
+
},
|
| 650 |
+
"fridge_right_group": {
|
| 651 |
+
"cls": "FridgeSideBySide"
|
| 652 |
+
},
|
| 653 |
+
"fridge_housing_right_group": {
|
| 654 |
+
"cls": "HousingCabinet"
|
| 655 |
+
},
|
| 656 |
+
"stack_1_right_group_base": {
|
| 657 |
+
"cls": "Box"
|
| 658 |
+
},
|
| 659 |
+
"stack_1_right_group_1": {
|
| 660 |
+
"cls": "HingeCabinet"
|
| 661 |
+
},
|
| 662 |
+
"stack_1_right_group_2": {
|
| 663 |
+
"cls": "Drawer"
|
| 664 |
+
},
|
| 665 |
+
"stack_1_right_group_3": {
|
| 666 |
+
"cls": "Drawer"
|
| 667 |
+
},
|
| 668 |
+
"stack_2_right_group_base": {
|
| 669 |
+
"cls": "Box"
|
| 670 |
+
},
|
| 671 |
+
"stack_2_right_group_1": {
|
| 672 |
+
"cls": "SingleCabinet"
|
| 673 |
+
},
|
| 674 |
+
"stack_2_right_group_2": {
|
| 675 |
+
"cls": "Drawer"
|
| 676 |
+
},
|
| 677 |
+
"stack_3_right_group_base": {
|
| 678 |
+
"cls": "Box"
|
| 679 |
+
},
|
| 680 |
+
"stack_3_right_group_1": {
|
| 681 |
+
"cls": "Drawer"
|
| 682 |
+
},
|
| 683 |
+
"stack_3_right_group_2": {
|
| 684 |
+
"cls": "Drawer"
|
| 685 |
+
},
|
| 686 |
+
"stack_3_right_group_3": {
|
| 687 |
+
"cls": "Drawer"
|
| 688 |
+
},
|
| 689 |
+
"stack_3_right_group_4": {
|
| 690 |
+
"cls": "Drawer"
|
| 691 |
+
},
|
| 692 |
+
"cab_1_right_group": {
|
| 693 |
+
"cls": "HingeCabinet"
|
| 694 |
+
},
|
| 695 |
+
"cab_2_right_group": {
|
| 696 |
+
"cls": "HingeCabinet"
|
| 697 |
+
},
|
| 698 |
+
"fridge_cab_right_group": {
|
| 699 |
+
"cls": "HingeCabinet"
|
| 700 |
+
},
|
| 701 |
+
"coffee_machine_right_group": {
|
| 702 |
+
"cls": "CoffeeMachine"
|
| 703 |
+
},
|
| 704 |
+
"toaster_right_group": {
|
| 705 |
+
"cls": "Toaster"
|
| 706 |
+
}
|
| 707 |
+
},
|
| 708 |
+
"gen_textures": {},
|
| 709 |
+
"lang": "Pick the chicken drumstick and eggplant from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 710 |
+
"fixture_refs": {
|
| 711 |
+
"stool1": "stool_1_room",
|
| 712 |
+
"stool2": "stool_2_room",
|
| 713 |
+
"dining_counter": "island_island_group",
|
| 714 |
+
"fridge": "fridge_right_group"
|
| 715 |
+
},
|
| 716 |
+
"cam_configs": {
|
| 717 |
+
"robot0_agentview_center": {
|
| 718 |
+
"pos": [
|
| 719 |
+
-0.6,
|
| 720 |
+
0.0,
|
| 721 |
+
1.15
|
| 722 |
+
],
|
| 723 |
+
"quat": [
|
| 724 |
+
0.636945903301239,
|
| 725 |
+
0.3325185477733612,
|
| 726 |
+
-0.3199238181114197,
|
| 727 |
+
-0.6175596117973328
|
| 728 |
+
],
|
| 729 |
+
"parent_body": "mobilebase0_support"
|
| 730 |
+
},
|
| 731 |
+
"robot0_agentview_left": {
|
| 732 |
+
"pos": [
|
| 733 |
+
-0.5,
|
| 734 |
+
0.35,
|
| 735 |
+
1.05
|
| 736 |
+
],
|
| 737 |
+
"quat": [
|
| 738 |
+
0.55623853,
|
| 739 |
+
0.29935253,
|
| 740 |
+
-0.37678665,
|
| 741 |
+
-0.6775092
|
| 742 |
+
],
|
| 743 |
+
"camera_attribs": {
|
| 744 |
+
"fovy": "60"
|
| 745 |
+
},
|
| 746 |
+
"parent_body": "mobilebase0_support"
|
| 747 |
+
},
|
| 748 |
+
"robot0_agentview_right": {
|
| 749 |
+
"pos": [
|
| 750 |
+
-0.5,
|
| 751 |
+
-0.35,
|
| 752 |
+
1.05
|
| 753 |
+
],
|
| 754 |
+
"quat": [
|
| 755 |
+
0.6775091886520386,
|
| 756 |
+
0.3767866790294647,
|
| 757 |
+
-0.2993525564670563,
|
| 758 |
+
-0.55623859167099
|
| 759 |
+
],
|
| 760 |
+
"camera_attribs": {
|
| 761 |
+
"fovy": "60"
|
| 762 |
+
},
|
| 763 |
+
"parent_body": "mobilebase0_support"
|
| 764 |
+
},
|
| 765 |
+
"robot0_frontview": {
|
| 766 |
+
"pos": [
|
| 767 |
+
-0.5,
|
| 768 |
+
0,
|
| 769 |
+
0.95
|
| 770 |
+
],
|
| 771 |
+
"quat": [
|
| 772 |
+
0.6088936924934387,
|
| 773 |
+
0.3814677894115448,
|
| 774 |
+
-0.3673907518386841,
|
| 775 |
+
-0.5905545353889465
|
| 776 |
+
],
|
| 777 |
+
"camera_attribs": {
|
| 778 |
+
"fovy": "60"
|
| 779 |
+
},
|
| 780 |
+
"parent_body": "mobilebase0_support"
|
| 781 |
+
},
|
| 782 |
+
"robot0_eye_in_hand": {
|
| 783 |
+
"pos": [
|
| 784 |
+
0.05,
|
| 785 |
+
0,
|
| 786 |
+
0
|
| 787 |
+
],
|
| 788 |
+
"quat": [
|
| 789 |
+
0,
|
| 790 |
+
0.707107,
|
| 791 |
+
0.707107,
|
| 792 |
+
0
|
| 793 |
+
],
|
| 794 |
+
"parent_body": "robot0_right_hand"
|
| 795 |
+
}
|
| 796 |
+
},
|
| 797 |
+
"init_robot_base_pos": [
|
| 798 |
+
3.087444090991277,
|
| 799 |
+
-3.7982840659376835,
|
| 800 |
+
0.0
|
| 801 |
+
],
|
| 802 |
+
"init_robot_base_ori": [
|
| 803 |
+
0.0,
|
| 804 |
+
0.0,
|
| 805 |
+
7.85388898038469
|
| 806 |
+
]
|
| 807 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000419/ep_meta.json
ADDED
|
@@ -0,0 +1,652 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.24720248007000004,
|
| 14 |
+
0.24572606796000004,
|
| 15 |
+
0.012934327725
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.244743326685,
|
| 98 |
+
0.24474403597500002,
|
| 99 |
+
0.023217144615000004
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"potato",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"food_set1",
|
| 165 |
+
"oven_ready"
|
| 166 |
+
],
|
| 167 |
+
"groups": [
|
| 168 |
+
"vegetable"
|
| 169 |
+
],
|
| 170 |
+
"cat": "potato",
|
| 171 |
+
"split": "test",
|
| 172 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"name": "bowl",
|
| 177 |
+
"obj_groups": "bowl",
|
| 178 |
+
"graspable": true,
|
| 179 |
+
"placement": {
|
| 180 |
+
"fixture": "island_island_group",
|
| 181 |
+
"sample_region_kwargs": {
|
| 182 |
+
"ref": "stool_2_room",
|
| 183 |
+
"min_size": [
|
| 184 |
+
0.2399963735999999,
|
| 185 |
+
0.23998859999999989,
|
| 186 |
+
0.09870963839999995
|
| 187 |
+
]
|
| 188 |
+
},
|
| 189 |
+
"size": [
|
| 190 |
+
1.0,
|
| 191 |
+
0.4
|
| 192 |
+
],
|
| 193 |
+
"pos": [
|
| 194 |
+
"ref",
|
| 195 |
+
"ref"
|
| 196 |
+
]
|
| 197 |
+
},
|
| 198 |
+
"type": "object",
|
| 199 |
+
"info": {
|
| 200 |
+
"groups_containing_sampled_obj": [
|
| 201 |
+
"all",
|
| 202 |
+
"bowl",
|
| 203 |
+
"receptacle",
|
| 204 |
+
"stackable",
|
| 205 |
+
"group1",
|
| 206 |
+
"container_set2"
|
| 207 |
+
],
|
| 208 |
+
"groups": [
|
| 209 |
+
"bowl"
|
| 210 |
+
],
|
| 211 |
+
"cat": "bowl",
|
| 212 |
+
"split": "test",
|
| 213 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_8/model.xml"
|
| 214 |
+
},
|
| 215 |
+
"reset_region": {
|
| 216 |
+
"size": [
|
| 217 |
+
2.4399842052305356,
|
| 218 |
+
1.6
|
| 219 |
+
],
|
| 220 |
+
"offset": [
|
| 221 |
+
0.005007897384732285,
|
| 222 |
+
0.0,
|
| 223 |
+
0.46
|
| 224 |
+
],
|
| 225 |
+
"name": "geom_0"
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
{
|
| 229 |
+
"name": "distr1",
|
| 230 |
+
"fridgable": true,
|
| 231 |
+
"placement": {
|
| 232 |
+
"fixture": "fridge_main_group",
|
| 233 |
+
"size": [
|
| 234 |
+
0.3,
|
| 235 |
+
0.3
|
| 236 |
+
],
|
| 237 |
+
"pos": [
|
| 238 |
+
-0.3,
|
| 239 |
+
1.0
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
"type": "object",
|
| 243 |
+
"info": {
|
| 244 |
+
"groups_containing_sampled_obj": [
|
| 245 |
+
"all",
|
| 246 |
+
"jam",
|
| 247 |
+
"packaged_food"
|
| 248 |
+
],
|
| 249 |
+
"groups": [
|
| 250 |
+
"all"
|
| 251 |
+
],
|
| 252 |
+
"cat": "jam",
|
| 253 |
+
"split": "test",
|
| 254 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml"
|
| 255 |
+
},
|
| 256 |
+
"reset_region": {
|
| 257 |
+
"offset": [
|
| 258 |
+
-0.0002632047656345171,
|
| 259 |
+
0.10788939929975168,
|
| 260 |
+
0.181412742979443
|
| 261 |
+
],
|
| 262 |
+
"size": [
|
| 263 |
+
0.7781439843759018,
|
| 264 |
+
0.5543220166326962
|
| 265 |
+
],
|
| 266 |
+
"name": "fridge_shelf0"
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"name": "distr2",
|
| 271 |
+
"fridgable": true,
|
| 272 |
+
"placement": {
|
| 273 |
+
"fixture": "fridge_main_group",
|
| 274 |
+
"size": [
|
| 275 |
+
0.3,
|
| 276 |
+
0.3
|
| 277 |
+
],
|
| 278 |
+
"pos": [
|
| 279 |
+
0.3,
|
| 280 |
+
1.0
|
| 281 |
+
]
|
| 282 |
+
},
|
| 283 |
+
"type": "object",
|
| 284 |
+
"info": {
|
| 285 |
+
"groups_containing_sampled_obj": [
|
| 286 |
+
"all",
|
| 287 |
+
"milk",
|
| 288 |
+
"drink",
|
| 289 |
+
"dairy",
|
| 290 |
+
"food",
|
| 291 |
+
"in_container"
|
| 292 |
+
],
|
| 293 |
+
"groups": [
|
| 294 |
+
"all"
|
| 295 |
+
],
|
| 296 |
+
"cat": "milk",
|
| 297 |
+
"split": "test",
|
| 298 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_9/model.xml"
|
| 299 |
+
},
|
| 300 |
+
"reset_region": {
|
| 301 |
+
"offset": [
|
| 302 |
+
5.222870163282267e-05,
|
| 303 |
+
0.10788939929975168,
|
| 304 |
+
0.5507136994887958
|
| 305 |
+
],
|
| 306 |
+
"size": [
|
| 307 |
+
0.7775131174413674,
|
| 308 |
+
0.5543220166326962
|
| 309 |
+
],
|
| 310 |
+
"name": "fridge_shelf1"
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"fixtures": {
|
| 315 |
+
"wall_room": {
|
| 316 |
+
"cls": "Wall"
|
| 317 |
+
},
|
| 318 |
+
"wall_backing_room": {
|
| 319 |
+
"cls": "Wall"
|
| 320 |
+
},
|
| 321 |
+
"wall_left_room": {
|
| 322 |
+
"cls": "Wall"
|
| 323 |
+
},
|
| 324 |
+
"wall_left_backing_room": {
|
| 325 |
+
"cls": "Wall"
|
| 326 |
+
},
|
| 327 |
+
"outlet_room": {
|
| 328 |
+
"cls": "WallAccessory"
|
| 329 |
+
},
|
| 330 |
+
"outlet_2_room": {
|
| 331 |
+
"cls": "WallAccessory"
|
| 332 |
+
},
|
| 333 |
+
"light_switch_room": {
|
| 334 |
+
"cls": "WallAccessory"
|
| 335 |
+
},
|
| 336 |
+
"light_switch_2_room": {
|
| 337 |
+
"cls": "WallAccessory"
|
| 338 |
+
},
|
| 339 |
+
"window_group_room": {
|
| 340 |
+
"cls": "Window"
|
| 341 |
+
},
|
| 342 |
+
"floor_room": {
|
| 343 |
+
"cls": "Floor"
|
| 344 |
+
},
|
| 345 |
+
"floor_backing_room": {
|
| 346 |
+
"cls": "Floor"
|
| 347 |
+
},
|
| 348 |
+
"stool_1_room": {
|
| 349 |
+
"cls": "Stool"
|
| 350 |
+
},
|
| 351 |
+
"stool_2_room": {
|
| 352 |
+
"cls": "Stool"
|
| 353 |
+
},
|
| 354 |
+
"stool_3_room": {
|
| 355 |
+
"cls": "Stool"
|
| 356 |
+
},
|
| 357 |
+
"counter_corner_main_main_group": {
|
| 358 |
+
"cls": "Counter"
|
| 359 |
+
},
|
| 360 |
+
"counter_main_main_group": {
|
| 361 |
+
"cls": "Counter"
|
| 362 |
+
},
|
| 363 |
+
"stovetop_main_group": {
|
| 364 |
+
"cls": "Stovetop"
|
| 365 |
+
},
|
| 366 |
+
"counter_1_right_main_group": {
|
| 367 |
+
"cls": "Counter"
|
| 368 |
+
},
|
| 369 |
+
"fridge_main_group": {
|
| 370 |
+
"cls": "FridgeFrenchDoor"
|
| 371 |
+
},
|
| 372 |
+
"fridge_housing_main_group": {
|
| 373 |
+
"cls": "HousingCabinet"
|
| 374 |
+
},
|
| 375 |
+
"stack_1_main_group_base": {
|
| 376 |
+
"cls": "Box"
|
| 377 |
+
},
|
| 378 |
+
"stack_1_main_group_1": {
|
| 379 |
+
"cls": "Drawer"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_main_group_2": {
|
| 382 |
+
"cls": "Drawer"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_main_group_3": {
|
| 385 |
+
"cls": "Drawer"
|
| 386 |
+
},
|
| 387 |
+
"stack_1_main_group_4": {
|
| 388 |
+
"cls": "Drawer"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_main_group_base": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_main_group_1": {
|
| 394 |
+
"cls": "HingeCabinet"
|
| 395 |
+
},
|
| 396 |
+
"stack_2_main_group_2": {
|
| 397 |
+
"cls": "PanelCabinet"
|
| 398 |
+
},
|
| 399 |
+
"stack_3_main_group_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"stack_3_main_group_1": {
|
| 403 |
+
"cls": "HingeCabinet"
|
| 404 |
+
},
|
| 405 |
+
"stack_3_main_group_2": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_3_main_group_3": {
|
| 409 |
+
"cls": "Drawer"
|
| 410 |
+
},
|
| 411 |
+
"hood_main_group": {
|
| 412 |
+
"cls": "Hood"
|
| 413 |
+
},
|
| 414 |
+
"cab_main_main_group": {
|
| 415 |
+
"cls": "HingeCabinet"
|
| 416 |
+
},
|
| 417 |
+
"shelves_main_group": {
|
| 418 |
+
"cls": "OpenCabinet"
|
| 419 |
+
},
|
| 420 |
+
"fridge_cab_main_group": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"paper_towel_main_group": {
|
| 424 |
+
"cls": "Accessory"
|
| 425 |
+
},
|
| 426 |
+
"knife_block_main_group": {
|
| 427 |
+
"cls": "Accessory"
|
| 428 |
+
},
|
| 429 |
+
"toaster_main_group": {
|
| 430 |
+
"cls": "Toaster"
|
| 431 |
+
},
|
| 432 |
+
"utensil_set_main_group": {
|
| 433 |
+
"cls": "Accessory"
|
| 434 |
+
},
|
| 435 |
+
"toaster_oven_main_group": {
|
| 436 |
+
"cls": "ToasterOven"
|
| 437 |
+
},
|
| 438 |
+
"jar_main_group": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
},
|
| 441 |
+
"jar_2_main_group": {
|
| 442 |
+
"cls": "Accessory"
|
| 443 |
+
},
|
| 444 |
+
"glass_cup_main_group": {
|
| 445 |
+
"cls": "Accessory"
|
| 446 |
+
},
|
| 447 |
+
"glass_cup_2_main_group": {
|
| 448 |
+
"cls": "Accessory"
|
| 449 |
+
},
|
| 450 |
+
"jar_main_group_auxiliary_main_group": {
|
| 451 |
+
"cls": "Accessory"
|
| 452 |
+
},
|
| 453 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 454 |
+
"cls": "Accessory"
|
| 455 |
+
},
|
| 456 |
+
"cab_1_left_group": {
|
| 457 |
+
"cls": "SingleCabinet"
|
| 458 |
+
},
|
| 459 |
+
"cab_2_left_group": {
|
| 460 |
+
"cls": "SingleCabinet"
|
| 461 |
+
},
|
| 462 |
+
"cab_corner_3_left_group": {
|
| 463 |
+
"cls": "Box"
|
| 464 |
+
},
|
| 465 |
+
"cab_corner_4_left_group": {
|
| 466 |
+
"cls": "Box"
|
| 467 |
+
},
|
| 468 |
+
"sink_left_group": {
|
| 469 |
+
"cls": "Sink"
|
| 470 |
+
},
|
| 471 |
+
"counter_1_left_left_group": {
|
| 472 |
+
"cls": "Counter"
|
| 473 |
+
},
|
| 474 |
+
"counter_corner_left_group": {
|
| 475 |
+
"cls": "Counter"
|
| 476 |
+
},
|
| 477 |
+
"bottom_left_group_base": {
|
| 478 |
+
"cls": "Box"
|
| 479 |
+
},
|
| 480 |
+
"bottom_left_group_1": {
|
| 481 |
+
"cls": "Drawer"
|
| 482 |
+
},
|
| 483 |
+
"bottom_left_group_2": {
|
| 484 |
+
"cls": "Drawer"
|
| 485 |
+
},
|
| 486 |
+
"oven_left_group": {
|
| 487 |
+
"cls": "Oven"
|
| 488 |
+
},
|
| 489 |
+
"oven_housing_left_group": {
|
| 490 |
+
"cls": "HousingCabinet"
|
| 491 |
+
},
|
| 492 |
+
"microwave_left_group": {
|
| 493 |
+
"cls": "Microwave"
|
| 494 |
+
},
|
| 495 |
+
"micro_housing_left_group": {
|
| 496 |
+
"cls": "HousingCabinet"
|
| 497 |
+
},
|
| 498 |
+
"top_left_group": {
|
| 499 |
+
"cls": "HingeCabinet"
|
| 500 |
+
},
|
| 501 |
+
"stack_1_left_group": {
|
| 502 |
+
"cls": "SingleCabinet"
|
| 503 |
+
},
|
| 504 |
+
"dishwasher_left_group": {
|
| 505 |
+
"cls": "Dishwasher"
|
| 506 |
+
},
|
| 507 |
+
"stack_2_left_group_base": {
|
| 508 |
+
"cls": "Box"
|
| 509 |
+
},
|
| 510 |
+
"stack_2_left_group_1": {
|
| 511 |
+
"cls": "HingeCabinet"
|
| 512 |
+
},
|
| 513 |
+
"stack_2_left_group_2": {
|
| 514 |
+
"cls": "PanelCabinet"
|
| 515 |
+
},
|
| 516 |
+
"stack_3_left_group_base": {
|
| 517 |
+
"cls": "Box"
|
| 518 |
+
},
|
| 519 |
+
"stack_3_left_group_1": {
|
| 520 |
+
"cls": "HingeCabinet"
|
| 521 |
+
},
|
| 522 |
+
"stack_3_left_group_2": {
|
| 523 |
+
"cls": "Drawer"
|
| 524 |
+
},
|
| 525 |
+
"stack_3_left_group_3": {
|
| 526 |
+
"cls": "Drawer"
|
| 527 |
+
},
|
| 528 |
+
"coffee_machine_left_group": {
|
| 529 |
+
"cls": "CoffeeMachine"
|
| 530 |
+
},
|
| 531 |
+
"soap_dispenser_left_group": {
|
| 532 |
+
"cls": "Accessory"
|
| 533 |
+
},
|
| 534 |
+
"tiered_basket_left_group": {
|
| 535 |
+
"cls": "Accessory"
|
| 536 |
+
},
|
| 537 |
+
"island_island_group": {
|
| 538 |
+
"cls": "Counter"
|
| 539 |
+
},
|
| 540 |
+
"plant_island_group": {
|
| 541 |
+
"cls": "Accessory"
|
| 542 |
+
},
|
| 543 |
+
"fruit_bowl_island_group": {
|
| 544 |
+
"cls": "Accessory"
|
| 545 |
+
},
|
| 546 |
+
"salt_shaker_island_group": {
|
| 547 |
+
"cls": "Accessory"
|
| 548 |
+
},
|
| 549 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 550 |
+
"cls": "Accessory"
|
| 551 |
+
}
|
| 552 |
+
},
|
| 553 |
+
"gen_textures": {},
|
| 554 |
+
"lang": "Pick the chicken drumstick and potato from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 555 |
+
"fixture_refs": {
|
| 556 |
+
"stool1": "stool_1_room",
|
| 557 |
+
"stool2": "stool_2_room",
|
| 558 |
+
"dining_counter": "island_island_group",
|
| 559 |
+
"fridge": "fridge_main_group"
|
| 560 |
+
},
|
| 561 |
+
"cam_configs": {
|
| 562 |
+
"robot0_agentview_center": {
|
| 563 |
+
"pos": [
|
| 564 |
+
-0.6,
|
| 565 |
+
0.0,
|
| 566 |
+
1.15
|
| 567 |
+
],
|
| 568 |
+
"quat": [
|
| 569 |
+
0.636945903301239,
|
| 570 |
+
0.3325185477733612,
|
| 571 |
+
-0.3199238181114197,
|
| 572 |
+
-0.6175596117973328
|
| 573 |
+
],
|
| 574 |
+
"parent_body": "mobilebase0_support"
|
| 575 |
+
},
|
| 576 |
+
"robot0_agentview_left": {
|
| 577 |
+
"pos": [
|
| 578 |
+
-0.5,
|
| 579 |
+
0.35,
|
| 580 |
+
1.05
|
| 581 |
+
],
|
| 582 |
+
"quat": [
|
| 583 |
+
0.55623853,
|
| 584 |
+
0.29935253,
|
| 585 |
+
-0.37678665,
|
| 586 |
+
-0.6775092
|
| 587 |
+
],
|
| 588 |
+
"camera_attribs": {
|
| 589 |
+
"fovy": "60"
|
| 590 |
+
},
|
| 591 |
+
"parent_body": "mobilebase0_support"
|
| 592 |
+
},
|
| 593 |
+
"robot0_agentview_right": {
|
| 594 |
+
"pos": [
|
| 595 |
+
-0.5,
|
| 596 |
+
-0.35,
|
| 597 |
+
1.05
|
| 598 |
+
],
|
| 599 |
+
"quat": [
|
| 600 |
+
0.6775091886520386,
|
| 601 |
+
0.3767866790294647,
|
| 602 |
+
-0.2993525564670563,
|
| 603 |
+
-0.55623859167099
|
| 604 |
+
],
|
| 605 |
+
"camera_attribs": {
|
| 606 |
+
"fovy": "60"
|
| 607 |
+
},
|
| 608 |
+
"parent_body": "mobilebase0_support"
|
| 609 |
+
},
|
| 610 |
+
"robot0_frontview": {
|
| 611 |
+
"pos": [
|
| 612 |
+
-0.5,
|
| 613 |
+
0,
|
| 614 |
+
0.95
|
| 615 |
+
],
|
| 616 |
+
"quat": [
|
| 617 |
+
0.6088936924934387,
|
| 618 |
+
0.3814677894115448,
|
| 619 |
+
-0.3673907518386841,
|
| 620 |
+
-0.5905545353889465
|
| 621 |
+
],
|
| 622 |
+
"camera_attribs": {
|
| 623 |
+
"fovy": "60"
|
| 624 |
+
},
|
| 625 |
+
"parent_body": "mobilebase0_support"
|
| 626 |
+
},
|
| 627 |
+
"robot0_eye_in_hand": {
|
| 628 |
+
"pos": [
|
| 629 |
+
0.05,
|
| 630 |
+
0,
|
| 631 |
+
0
|
| 632 |
+
],
|
| 633 |
+
"quat": [
|
| 634 |
+
0,
|
| 635 |
+
0.707107,
|
| 636 |
+
0.707107,
|
| 637 |
+
0
|
| 638 |
+
],
|
| 639 |
+
"parent_body": "robot0_right_hand"
|
| 640 |
+
}
|
| 641 |
+
},
|
| 642 |
+
"init_robot_base_pos": [
|
| 643 |
+
3.9829073448737544,
|
| 644 |
+
-3.2863971776595373,
|
| 645 |
+
0.0
|
| 646 |
+
],
|
| 647 |
+
"init_robot_base_ori": [
|
| 648 |
+
0.0,
|
| 649 |
+
0.0,
|
| 650 |
+
3.1415889803846895
|
| 651 |
+
]
|
| 652 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000488/ep_meta.json
ADDED
|
@@ -0,0 +1,681 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 8,
|
| 3 |
+
"style_id": 8,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_front_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.24720248007000004,
|
| 14 |
+
0.24572606796000004,
|
| 15 |
+
0.012934327725
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.100074126305603,
|
| 47 |
+
0.65
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.3999629368471984,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "counter_1_front_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.232802852625,
|
| 98 |
+
0.23286639915,
|
| 99 |
+
0.014759147025
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
1.1999258801329122,
|
| 131 |
+
0.65
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
-0.35003705993354384,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"lemon",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container",
|
| 164 |
+
"food_set1"
|
| 165 |
+
],
|
| 166 |
+
"groups": [
|
| 167 |
+
"vegetable"
|
| 168 |
+
],
|
| 169 |
+
"cat": "lemon",
|
| 170 |
+
"split": "test",
|
| 171 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_7/model.xml"
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
{
|
| 175 |
+
"name": "bowl",
|
| 176 |
+
"obj_groups": "bowl",
|
| 177 |
+
"graspable": true,
|
| 178 |
+
"placement": {
|
| 179 |
+
"fixture": "counter_1_front_group",
|
| 180 |
+
"sample_region_kwargs": {
|
| 181 |
+
"ref": "stool_2_room",
|
| 182 |
+
"min_size": [
|
| 183 |
+
0.2599887809999999,
|
| 184 |
+
0.2592267287999999,
|
| 185 |
+
0.07434426739999996
|
| 186 |
+
]
|
| 187 |
+
},
|
| 188 |
+
"size": [
|
| 189 |
+
1.0,
|
| 190 |
+
0.4
|
| 191 |
+
],
|
| 192 |
+
"pos": [
|
| 193 |
+
"ref",
|
| 194 |
+
"ref"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"type": "object",
|
| 198 |
+
"info": {
|
| 199 |
+
"groups_containing_sampled_obj": [
|
| 200 |
+
"all",
|
| 201 |
+
"bowl",
|
| 202 |
+
"receptacle",
|
| 203 |
+
"stackable",
|
| 204 |
+
"group1",
|
| 205 |
+
"container_set2"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"bowl"
|
| 209 |
+
],
|
| 210 |
+
"cat": "bowl",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml"
|
| 213 |
+
},
|
| 214 |
+
"reset_region": {
|
| 215 |
+
"size": [
|
| 216 |
+
1.1999258801329122,
|
| 217 |
+
0.65
|
| 218 |
+
],
|
| 219 |
+
"offset": [
|
| 220 |
+
-0.35003705993354384,
|
| 221 |
+
0.0,
|
| 222 |
+
0.46
|
| 223 |
+
],
|
| 224 |
+
"name": "geom_0"
|
| 225 |
+
}
|
| 226 |
+
},
|
| 227 |
+
{
|
| 228 |
+
"name": "distr1",
|
| 229 |
+
"fridgable": true,
|
| 230 |
+
"placement": {
|
| 231 |
+
"fixture": "fridge_left_group",
|
| 232 |
+
"size": [
|
| 233 |
+
0.3,
|
| 234 |
+
0.3
|
| 235 |
+
],
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.3,
|
| 238 |
+
1.0
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"type": "object",
|
| 242 |
+
"info": {
|
| 243 |
+
"groups_containing_sampled_obj": [
|
| 244 |
+
"all",
|
| 245 |
+
"liquor",
|
| 246 |
+
"drink",
|
| 247 |
+
"alcohol"
|
| 248 |
+
],
|
| 249 |
+
"groups": [
|
| 250 |
+
"all"
|
| 251 |
+
],
|
| 252 |
+
"cat": "liquor",
|
| 253 |
+
"split": "test",
|
| 254 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_9/model.xml"
|
| 255 |
+
},
|
| 256 |
+
"reset_region": {
|
| 257 |
+
"offset": [
|
| 258 |
+
0.00734478175963188,
|
| 259 |
+
0.003573956171600376,
|
| 260 |
+
0.24405273782152556
|
| 261 |
+
],
|
| 262 |
+
"size": [
|
| 263 |
+
0.6623975154678047,
|
| 264 |
+
0.4660752914038736
|
| 265 |
+
],
|
| 266 |
+
"name": "fridge_shelf0"
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"name": "distr2",
|
| 271 |
+
"fridgable": true,
|
| 272 |
+
"placement": {
|
| 273 |
+
"fixture": "fridge_left_group",
|
| 274 |
+
"size": [
|
| 275 |
+
0.3,
|
| 276 |
+
0.3
|
| 277 |
+
],
|
| 278 |
+
"pos": [
|
| 279 |
+
0.3,
|
| 280 |
+
1.0
|
| 281 |
+
]
|
| 282 |
+
},
|
| 283 |
+
"type": "object",
|
| 284 |
+
"info": {
|
| 285 |
+
"groups_containing_sampled_obj": [
|
| 286 |
+
"all",
|
| 287 |
+
"squash",
|
| 288 |
+
"vegetable",
|
| 289 |
+
"food",
|
| 290 |
+
"in_container"
|
| 291 |
+
],
|
| 292 |
+
"groups": [
|
| 293 |
+
"all"
|
| 294 |
+
],
|
| 295 |
+
"cat": "squash",
|
| 296 |
+
"split": "test",
|
| 297 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
|
| 298 |
+
},
|
| 299 |
+
"reset_region": {
|
| 300 |
+
"offset": [
|
| 301 |
+
-0.000519890487119562,
|
| 302 |
+
0.0028797472135973917,
|
| 303 |
+
0.5483455536926568
|
| 304 |
+
],
|
| 305 |
+
"size": [
|
| 306 |
+
0.6781268599613075,
|
| 307 |
+
0.4671225904746241
|
| 308 |
+
],
|
| 309 |
+
"name": "fridge_shelf1"
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
],
|
| 313 |
+
"fixtures": {
|
| 314 |
+
"wall_room": {
|
| 315 |
+
"cls": "Wall"
|
| 316 |
+
},
|
| 317 |
+
"wall_backing_room": {
|
| 318 |
+
"cls": "Wall"
|
| 319 |
+
},
|
| 320 |
+
"wall_left_room": {
|
| 321 |
+
"cls": "Wall"
|
| 322 |
+
},
|
| 323 |
+
"wall_left_backing_room": {
|
| 324 |
+
"cls": "Wall"
|
| 325 |
+
},
|
| 326 |
+
"wall_right_room": {
|
| 327 |
+
"cls": "Wall"
|
| 328 |
+
},
|
| 329 |
+
"wall_right_backing_room": {
|
| 330 |
+
"cls": "Wall"
|
| 331 |
+
},
|
| 332 |
+
"outlet_room": {
|
| 333 |
+
"cls": "WallAccessory"
|
| 334 |
+
},
|
| 335 |
+
"outlet_2_room": {
|
| 336 |
+
"cls": "WallAccessory"
|
| 337 |
+
},
|
| 338 |
+
"light_switch_room": {
|
| 339 |
+
"cls": "WallAccessory"
|
| 340 |
+
},
|
| 341 |
+
"light_switch_2_room": {
|
| 342 |
+
"cls": "WallAccessory"
|
| 343 |
+
},
|
| 344 |
+
"utensil_rack_room": {
|
| 345 |
+
"cls": "WallAccessory"
|
| 346 |
+
},
|
| 347 |
+
"window_group_room": {
|
| 348 |
+
"cls": "Window"
|
| 349 |
+
},
|
| 350 |
+
"floor_room": {
|
| 351 |
+
"cls": "Floor"
|
| 352 |
+
},
|
| 353 |
+
"floor_backing_room": {
|
| 354 |
+
"cls": "Floor"
|
| 355 |
+
},
|
| 356 |
+
"stool_1_room": {
|
| 357 |
+
"cls": "Stool"
|
| 358 |
+
},
|
| 359 |
+
"stool_2_room": {
|
| 360 |
+
"cls": "Stool"
|
| 361 |
+
},
|
| 362 |
+
"counter_corner_main_group": {
|
| 363 |
+
"cls": "Counter"
|
| 364 |
+
},
|
| 365 |
+
"counter_main_main_group": {
|
| 366 |
+
"cls": "Counter"
|
| 367 |
+
},
|
| 368 |
+
"counter_corner_2_main_group": {
|
| 369 |
+
"cls": "Counter"
|
| 370 |
+
},
|
| 371 |
+
"cab_corner_main_group": {
|
| 372 |
+
"cls": "Box"
|
| 373 |
+
},
|
| 374 |
+
"cab_corner_2_main_group": {
|
| 375 |
+
"cls": "Box"
|
| 376 |
+
},
|
| 377 |
+
"cab_main_main_group": {
|
| 378 |
+
"cls": "HingeCabinet"
|
| 379 |
+
},
|
| 380 |
+
"cab_1_main_group": {
|
| 381 |
+
"cls": "SingleCabinet"
|
| 382 |
+
},
|
| 383 |
+
"cab_corner_3_main_group": {
|
| 384 |
+
"cls": "Box"
|
| 385 |
+
},
|
| 386 |
+
"cab_corner_4_main_group": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"stack_1_main_group_base": {
|
| 390 |
+
"cls": "Box"
|
| 391 |
+
},
|
| 392 |
+
"stack_1_main_group_1": {
|
| 393 |
+
"cls": "HingeCabinet"
|
| 394 |
+
},
|
| 395 |
+
"stack_1_main_group_2": {
|
| 396 |
+
"cls": "Drawer"
|
| 397 |
+
},
|
| 398 |
+
"stack_1_main_group_3": {
|
| 399 |
+
"cls": "Drawer"
|
| 400 |
+
},
|
| 401 |
+
"stack_2_main_group_base": {
|
| 402 |
+
"cls": "Box"
|
| 403 |
+
},
|
| 404 |
+
"stack_2_main_group_1": {
|
| 405 |
+
"cls": "HingeCabinet"
|
| 406 |
+
},
|
| 407 |
+
"stack_2_main_group_2": {
|
| 408 |
+
"cls": "Drawer"
|
| 409 |
+
},
|
| 410 |
+
"stack_2_main_group_3": {
|
| 411 |
+
"cls": "Drawer"
|
| 412 |
+
},
|
| 413 |
+
"stack_3_main_group_base": {
|
| 414 |
+
"cls": "Box"
|
| 415 |
+
},
|
| 416 |
+
"stack_3_main_group_1": {
|
| 417 |
+
"cls": "Drawer"
|
| 418 |
+
},
|
| 419 |
+
"stack_3_main_group_2": {
|
| 420 |
+
"cls": "Drawer"
|
| 421 |
+
},
|
| 422 |
+
"stack_3_main_group_3": {
|
| 423 |
+
"cls": "Drawer"
|
| 424 |
+
},
|
| 425 |
+
"stack_3_main_group_4": {
|
| 426 |
+
"cls": "Drawer"
|
| 427 |
+
},
|
| 428 |
+
"toaster_main_group": {
|
| 429 |
+
"cls": "Toaster"
|
| 430 |
+
},
|
| 431 |
+
"toaster_oven_main_group": {
|
| 432 |
+
"cls": "ToasterOven"
|
| 433 |
+
},
|
| 434 |
+
"oil_bottle_main_group": {
|
| 435 |
+
"cls": "Accessory"
|
| 436 |
+
},
|
| 437 |
+
"fruit_bowl_main_group": {
|
| 438 |
+
"cls": "Accessory"
|
| 439 |
+
},
|
| 440 |
+
"knife_block_main_group": {
|
| 441 |
+
"cls": "Accessory"
|
| 442 |
+
},
|
| 443 |
+
"utensil_set_main_group": {
|
| 444 |
+
"cls": "Accessory"
|
| 445 |
+
},
|
| 446 |
+
"paper_towel_main_group": {
|
| 447 |
+
"cls": "Accessory"
|
| 448 |
+
},
|
| 449 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 450 |
+
"cls": "Accessory"
|
| 451 |
+
},
|
| 452 |
+
"counter_1_front_group": {
|
| 453 |
+
"cls": "Counter"
|
| 454 |
+
},
|
| 455 |
+
"counter_corner_front_group": {
|
| 456 |
+
"cls": "Counter"
|
| 457 |
+
},
|
| 458 |
+
"counter_1_left_group": {
|
| 459 |
+
"cls": "Counter"
|
| 460 |
+
},
|
| 461 |
+
"stove_left_group": {
|
| 462 |
+
"cls": "Stove"
|
| 463 |
+
},
|
| 464 |
+
"counter_2_left_group": {
|
| 465 |
+
"cls": "Counter"
|
| 466 |
+
},
|
| 467 |
+
"counter_corner_left_group": {
|
| 468 |
+
"cls": "Counter"
|
| 469 |
+
},
|
| 470 |
+
"fridge_left_group": {
|
| 471 |
+
"cls": "FridgeFrenchDoor"
|
| 472 |
+
},
|
| 473 |
+
"fridge_housing_left_group": {
|
| 474 |
+
"cls": "HousingCabinet"
|
| 475 |
+
},
|
| 476 |
+
"stack_1_left_group_base": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
},
|
| 479 |
+
"stack_1_left_group_1": {
|
| 480 |
+
"cls": "SingleCabinet"
|
| 481 |
+
},
|
| 482 |
+
"stack_1_left_group_2": {
|
| 483 |
+
"cls": "Drawer"
|
| 484 |
+
},
|
| 485 |
+
"stack_2_left_group_base": {
|
| 486 |
+
"cls": "Box"
|
| 487 |
+
},
|
| 488 |
+
"stack_2_left_group_1": {
|
| 489 |
+
"cls": "SingleCabinet"
|
| 490 |
+
},
|
| 491 |
+
"stack_2_left_group_2": {
|
| 492 |
+
"cls": "Drawer"
|
| 493 |
+
},
|
| 494 |
+
"cab_1_left_group": {
|
| 495 |
+
"cls": "SingleCabinet"
|
| 496 |
+
},
|
| 497 |
+
"microwave_left_group": {
|
| 498 |
+
"cls": "Microwave"
|
| 499 |
+
},
|
| 500 |
+
"cab_micro_left_group": {
|
| 501 |
+
"cls": "HingeCabinet"
|
| 502 |
+
},
|
| 503 |
+
"cab_2_left_group": {
|
| 504 |
+
"cls": "SingleCabinet"
|
| 505 |
+
},
|
| 506 |
+
"cab_3_left_group": {
|
| 507 |
+
"cls": "HingeCabinet"
|
| 508 |
+
},
|
| 509 |
+
"coffee_machine_left_group": {
|
| 510 |
+
"cls": "CoffeeMachine"
|
| 511 |
+
},
|
| 512 |
+
"salt_shaker_left_group": {
|
| 513 |
+
"cls": "Accessory"
|
| 514 |
+
},
|
| 515 |
+
"salt_shaker_left_group_auxiliary_left_group": {
|
| 516 |
+
"cls": "Accessory"
|
| 517 |
+
},
|
| 518 |
+
"sink_right_group": {
|
| 519 |
+
"cls": "Sink"
|
| 520 |
+
},
|
| 521 |
+
"counter_1_right_group": {
|
| 522 |
+
"cls": "Counter"
|
| 523 |
+
},
|
| 524 |
+
"counter_corner_right_group": {
|
| 525 |
+
"cls": "Counter"
|
| 526 |
+
},
|
| 527 |
+
"counter_corner_2_right_group": {
|
| 528 |
+
"cls": "Counter"
|
| 529 |
+
},
|
| 530 |
+
"stack_1_right_group_base": {
|
| 531 |
+
"cls": "Box"
|
| 532 |
+
},
|
| 533 |
+
"stack_1_right_group_1": {
|
| 534 |
+
"cls": "HingeCabinet"
|
| 535 |
+
},
|
| 536 |
+
"stack_1_right_group_2": {
|
| 537 |
+
"cls": "PanelCabinet"
|
| 538 |
+
},
|
| 539 |
+
"dishwasher_right_group": {
|
| 540 |
+
"cls": "Dishwasher"
|
| 541 |
+
},
|
| 542 |
+
"stack_2_right_group_base": {
|
| 543 |
+
"cls": "Box"
|
| 544 |
+
},
|
| 545 |
+
"stack_2_right_group_1": {
|
| 546 |
+
"cls": "Drawer"
|
| 547 |
+
},
|
| 548 |
+
"stack_2_right_group_2": {
|
| 549 |
+
"cls": "Drawer"
|
| 550 |
+
},
|
| 551 |
+
"stack_2_right_group_3": {
|
| 552 |
+
"cls": "Drawer"
|
| 553 |
+
},
|
| 554 |
+
"stack_2_right_group_4": {
|
| 555 |
+
"cls": "Drawer"
|
| 556 |
+
},
|
| 557 |
+
"cab_1_right_group": {
|
| 558 |
+
"cls": "HingeCabinet"
|
| 559 |
+
},
|
| 560 |
+
"shelves_right_group": {
|
| 561 |
+
"cls": "OpenCabinet"
|
| 562 |
+
},
|
| 563 |
+
"flower_vase_right_group": {
|
| 564 |
+
"cls": "Accessory"
|
| 565 |
+
},
|
| 566 |
+
"soap_dispenser_right_group": {
|
| 567 |
+
"cls": "Accessory"
|
| 568 |
+
},
|
| 569 |
+
"glass_cup_right_group": {
|
| 570 |
+
"cls": "Accessory"
|
| 571 |
+
},
|
| 572 |
+
"glass_cup_2_right_group": {
|
| 573 |
+
"cls": "Accessory"
|
| 574 |
+
},
|
| 575 |
+
"paprika_right_group": {
|
| 576 |
+
"cls": "Accessory"
|
| 577 |
+
},
|
| 578 |
+
"cinnamon_right_group": {
|
| 579 |
+
"cls": "Accessory"
|
| 580 |
+
}
|
| 581 |
+
},
|
| 582 |
+
"gen_textures": {},
|
| 583 |
+
"lang": "Pick the chicken drumstick and lemon from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 584 |
+
"fixture_refs": {
|
| 585 |
+
"stool1": "stool_1_room",
|
| 586 |
+
"stool2": "stool_2_room",
|
| 587 |
+
"dining_counter": "counter_1_front_group",
|
| 588 |
+
"fridge": "fridge_left_group"
|
| 589 |
+
},
|
| 590 |
+
"cam_configs": {
|
| 591 |
+
"robot0_agentview_center": {
|
| 592 |
+
"pos": [
|
| 593 |
+
-0.6,
|
| 594 |
+
0.0,
|
| 595 |
+
1.15
|
| 596 |
+
],
|
| 597 |
+
"quat": [
|
| 598 |
+
0.636945903301239,
|
| 599 |
+
0.3325185477733612,
|
| 600 |
+
-0.3199238181114197,
|
| 601 |
+
-0.6175596117973328
|
| 602 |
+
],
|
| 603 |
+
"parent_body": "mobilebase0_support"
|
| 604 |
+
},
|
| 605 |
+
"robot0_agentview_left": {
|
| 606 |
+
"pos": [
|
| 607 |
+
-0.5,
|
| 608 |
+
0.35,
|
| 609 |
+
1.05
|
| 610 |
+
],
|
| 611 |
+
"quat": [
|
| 612 |
+
0.55623853,
|
| 613 |
+
0.29935253,
|
| 614 |
+
-0.37678665,
|
| 615 |
+
-0.6775092
|
| 616 |
+
],
|
| 617 |
+
"camera_attribs": {
|
| 618 |
+
"fovy": "60"
|
| 619 |
+
},
|
| 620 |
+
"parent_body": "mobilebase0_support"
|
| 621 |
+
},
|
| 622 |
+
"robot0_agentview_right": {
|
| 623 |
+
"pos": [
|
| 624 |
+
-0.5,
|
| 625 |
+
-0.35,
|
| 626 |
+
1.05
|
| 627 |
+
],
|
| 628 |
+
"quat": [
|
| 629 |
+
0.6775091886520386,
|
| 630 |
+
0.3767866790294647,
|
| 631 |
+
-0.2993525564670563,
|
| 632 |
+
-0.55623859167099
|
| 633 |
+
],
|
| 634 |
+
"camera_attribs": {
|
| 635 |
+
"fovy": "60"
|
| 636 |
+
},
|
| 637 |
+
"parent_body": "mobilebase0_support"
|
| 638 |
+
},
|
| 639 |
+
"robot0_frontview": {
|
| 640 |
+
"pos": [
|
| 641 |
+
-0.5,
|
| 642 |
+
0,
|
| 643 |
+
0.95
|
| 644 |
+
],
|
| 645 |
+
"quat": [
|
| 646 |
+
0.6088936924934387,
|
| 647 |
+
0.3814677894115448,
|
| 648 |
+
-0.3673907518386841,
|
| 649 |
+
-0.5905545353889465
|
| 650 |
+
],
|
| 651 |
+
"camera_attribs": {
|
| 652 |
+
"fovy": "60"
|
| 653 |
+
},
|
| 654 |
+
"parent_body": "mobilebase0_support"
|
| 655 |
+
},
|
| 656 |
+
"robot0_eye_in_hand": {
|
| 657 |
+
"pos": [
|
| 658 |
+
0.05,
|
| 659 |
+
0,
|
| 660 |
+
0
|
| 661 |
+
],
|
| 662 |
+
"quat": [
|
| 663 |
+
0,
|
| 664 |
+
0.707107,
|
| 665 |
+
0.707107,
|
| 666 |
+
0
|
| 667 |
+
],
|
| 668 |
+
"parent_body": "robot0_right_hand"
|
| 669 |
+
}
|
| 670 |
+
},
|
| 671 |
+
"init_robot_base_pos": [
|
| 672 |
+
2.8271609818837433,
|
| 673 |
+
-3.9599696894072154,
|
| 674 |
+
0.0
|
| 675 |
+
],
|
| 676 |
+
"init_robot_base_ori": [
|
| 677 |
+
0.0,
|
| 678 |
+
0.0,
|
| 679 |
+
7.85388898038469
|
| 680 |
+
]
|
| 681 |
+
}
|
target/composite/StoreLeftoversInBowl/20250813/lerobot/extras/episode_000492/ep_meta.json
ADDED
|
@@ -0,0 +1,649 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "chicken_drumstick_container",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"sample_region_kwargs": {
|
| 11 |
+
"ref": "stool_1_room",
|
| 12 |
+
"min_size": [
|
| 13 |
+
0.24568749157499997,
|
| 14 |
+
0.24474791709000002,
|
| 15 |
+
0.03850276869
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"size": [
|
| 19 |
+
0.4,
|
| 20 |
+
0.4
|
| 21 |
+
],
|
| 22 |
+
"pos": [
|
| 23 |
+
"ref",
|
| 24 |
+
"ref"
|
| 25 |
+
],
|
| 26 |
+
"try_to_place_in": "plate"
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"info": {
|
| 30 |
+
"groups_containing_sampled_obj": [
|
| 31 |
+
"all",
|
| 32 |
+
"plate",
|
| 33 |
+
"receptacle",
|
| 34 |
+
"container",
|
| 35 |
+
"container_set2"
|
| 36 |
+
],
|
| 37 |
+
"groups": [
|
| 38 |
+
"plate"
|
| 39 |
+
],
|
| 40 |
+
"cat": "plate",
|
| 41 |
+
"split": "test",
|
| 42 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 43 |
+
},
|
| 44 |
+
"reset_region": {
|
| 45 |
+
"size": [
|
| 46 |
+
1.1399842052393057,
|
| 47 |
+
1.6
|
| 48 |
+
],
|
| 49 |
+
"offset": [
|
| 50 |
+
0.6550078973803473,
|
| 51 |
+
0.0,
|
| 52 |
+
0.46
|
| 53 |
+
],
|
| 54 |
+
"name": "geom_0"
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"name": "chicken_drumstick",
|
| 59 |
+
"obj_groups": "chicken_drumstick",
|
| 60 |
+
"placement": {
|
| 61 |
+
"size": [
|
| 62 |
+
0.01,
|
| 63 |
+
0.01
|
| 64 |
+
],
|
| 65 |
+
"ensure_object_boundary_in_range": false,
|
| 66 |
+
"sample_args": {
|
| 67 |
+
"reference": "chicken_drumstick_container",
|
| 68 |
+
"on_top": true
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"type": "object",
|
| 72 |
+
"info": {
|
| 73 |
+
"groups_containing_sampled_obj": [
|
| 74 |
+
"all",
|
| 75 |
+
"chicken_drumstick",
|
| 76 |
+
"meat",
|
| 77 |
+
"food",
|
| 78 |
+
"in_container",
|
| 79 |
+
"oven_ready"
|
| 80 |
+
],
|
| 81 |
+
"groups": [
|
| 82 |
+
"chicken_drumstick"
|
| 83 |
+
],
|
| 84 |
+
"cat": "chicken_drumstick",
|
| 85 |
+
"split": "test",
|
| 86 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"name": "vegetable_container",
|
| 91 |
+
"obj_groups": "plate",
|
| 92 |
+
"placement": {
|
| 93 |
+
"fixture": "island_island_group",
|
| 94 |
+
"sample_region_kwargs": {
|
| 95 |
+
"ref": "stool_2_room",
|
| 96 |
+
"min_size": [
|
| 97 |
+
0.24720248007000004,
|
| 98 |
+
0.24572606796000004,
|
| 99 |
+
0.012934327725
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"size": [
|
| 103 |
+
0.4,
|
| 104 |
+
0.4
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
"ref",
|
| 108 |
+
"ref"
|
| 109 |
+
],
|
| 110 |
+
"try_to_place_in": "plate"
|
| 111 |
+
},
|
| 112 |
+
"type": "object",
|
| 113 |
+
"info": {
|
| 114 |
+
"groups_containing_sampled_obj": [
|
| 115 |
+
"all",
|
| 116 |
+
"plate",
|
| 117 |
+
"receptacle",
|
| 118 |
+
"container",
|
| 119 |
+
"container_set2"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"plate"
|
| 123 |
+
],
|
| 124 |
+
"cat": "plate",
|
| 125 |
+
"split": "test",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.4399842052305356,
|
| 131 |
+
1.6
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.005007897384732285,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"name": "vegetable",
|
| 143 |
+
"obj_groups": "vegetable",
|
| 144 |
+
"graspable": true,
|
| 145 |
+
"placement": {
|
| 146 |
+
"size": [
|
| 147 |
+
0.01,
|
| 148 |
+
0.01
|
| 149 |
+
],
|
| 150 |
+
"ensure_object_boundary_in_range": false,
|
| 151 |
+
"sample_args": {
|
| 152 |
+
"reference": "vegetable_container",
|
| 153 |
+
"on_top": true
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"tomato",
|
| 161 |
+
"vegetable",
|
| 162 |
+
"food",
|
| 163 |
+
"in_container"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"vegetable"
|
| 167 |
+
],
|
| 168 |
+
"cat": "tomato",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_8/model.xml"
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
{
|
| 174 |
+
"name": "bowl",
|
| 175 |
+
"obj_groups": "bowl",
|
| 176 |
+
"graspable": true,
|
| 177 |
+
"placement": {
|
| 178 |
+
"fixture": "island_island_group",
|
| 179 |
+
"sample_region_kwargs": {
|
| 180 |
+
"ref": "stool_2_room",
|
| 181 |
+
"min_size": [
|
| 182 |
+
0.2599940797999999,
|
| 183 |
+
0.2599929331999999,
|
| 184 |
+
0.08604590539999997
|
| 185 |
+
]
|
| 186 |
+
},
|
| 187 |
+
"size": [
|
| 188 |
+
1.0,
|
| 189 |
+
0.4
|
| 190 |
+
],
|
| 191 |
+
"pos": [
|
| 192 |
+
"ref",
|
| 193 |
+
"ref"
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"type": "object",
|
| 197 |
+
"info": {
|
| 198 |
+
"groups_containing_sampled_obj": [
|
| 199 |
+
"all",
|
| 200 |
+
"bowl",
|
| 201 |
+
"receptacle",
|
| 202 |
+
"stackable",
|
| 203 |
+
"group1",
|
| 204 |
+
"container_set2"
|
| 205 |
+
],
|
| 206 |
+
"groups": [
|
| 207 |
+
"bowl"
|
| 208 |
+
],
|
| 209 |
+
"cat": "bowl",
|
| 210 |
+
"split": "test",
|
| 211 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
|
| 212 |
+
},
|
| 213 |
+
"reset_region": {
|
| 214 |
+
"size": [
|
| 215 |
+
2.4399842052305356,
|
| 216 |
+
1.6
|
| 217 |
+
],
|
| 218 |
+
"offset": [
|
| 219 |
+
0.005007897384732285,
|
| 220 |
+
0.0,
|
| 221 |
+
0.46
|
| 222 |
+
],
|
| 223 |
+
"name": "geom_0"
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"name": "distr1",
|
| 228 |
+
"fridgable": true,
|
| 229 |
+
"placement": {
|
| 230 |
+
"fixture": "fridge_main_group",
|
| 231 |
+
"size": [
|
| 232 |
+
0.3,
|
| 233 |
+
0.3
|
| 234 |
+
],
|
| 235 |
+
"pos": [
|
| 236 |
+
-0.3,
|
| 237 |
+
1.0
|
| 238 |
+
]
|
| 239 |
+
},
|
| 240 |
+
"type": "object",
|
| 241 |
+
"info": {
|
| 242 |
+
"groups_containing_sampled_obj": [
|
| 243 |
+
"all",
|
| 244 |
+
"jug_wide_opening",
|
| 245 |
+
"receptacle"
|
| 246 |
+
],
|
| 247 |
+
"groups": [
|
| 248 |
+
"all"
|
| 249 |
+
],
|
| 250 |
+
"cat": "jug_wide_opening",
|
| 251 |
+
"split": "test",
|
| 252 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_6/model.xml"
|
| 253 |
+
},
|
| 254 |
+
"reset_region": {
|
| 255 |
+
"offset": [
|
| 256 |
+
-0.0002632047656345171,
|
| 257 |
+
0.10788939929975168,
|
| 258 |
+
0.181412742979443
|
| 259 |
+
],
|
| 260 |
+
"size": [
|
| 261 |
+
0.7781439843759018,
|
| 262 |
+
0.5543220166326962
|
| 263 |
+
],
|
| 264 |
+
"name": "fridge_shelf0"
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"name": "distr2",
|
| 269 |
+
"fridgable": true,
|
| 270 |
+
"placement": {
|
| 271 |
+
"fixture": "fridge_main_group",
|
| 272 |
+
"size": [
|
| 273 |
+
0.3,
|
| 274 |
+
0.3
|
| 275 |
+
],
|
| 276 |
+
"pos": [
|
| 277 |
+
0.3,
|
| 278 |
+
1.0
|
| 279 |
+
]
|
| 280 |
+
},
|
| 281 |
+
"type": "object",
|
| 282 |
+
"info": {
|
| 283 |
+
"groups_containing_sampled_obj": [
|
| 284 |
+
"all",
|
| 285 |
+
"cupcake",
|
| 286 |
+
"sweets",
|
| 287 |
+
"food",
|
| 288 |
+
"in_container"
|
| 289 |
+
],
|
| 290 |
+
"groups": [
|
| 291 |
+
"all"
|
| 292 |
+
],
|
| 293 |
+
"cat": "cupcake",
|
| 294 |
+
"split": "test",
|
| 295 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml"
|
| 296 |
+
},
|
| 297 |
+
"reset_region": {
|
| 298 |
+
"offset": [
|
| 299 |
+
5.222870163282267e-05,
|
| 300 |
+
0.10788939929975168,
|
| 301 |
+
0.5507136994887958
|
| 302 |
+
],
|
| 303 |
+
"size": [
|
| 304 |
+
0.7775131174413674,
|
| 305 |
+
0.5543220166326962
|
| 306 |
+
],
|
| 307 |
+
"name": "fridge_shelf1"
|
| 308 |
+
}
|
| 309 |
+
}
|
| 310 |
+
],
|
| 311 |
+
"fixtures": {
|
| 312 |
+
"wall_room": {
|
| 313 |
+
"cls": "Wall"
|
| 314 |
+
},
|
| 315 |
+
"wall_backing_room": {
|
| 316 |
+
"cls": "Wall"
|
| 317 |
+
},
|
| 318 |
+
"wall_left_room": {
|
| 319 |
+
"cls": "Wall"
|
| 320 |
+
},
|
| 321 |
+
"wall_left_backing_room": {
|
| 322 |
+
"cls": "Wall"
|
| 323 |
+
},
|
| 324 |
+
"outlet_room": {
|
| 325 |
+
"cls": "WallAccessory"
|
| 326 |
+
},
|
| 327 |
+
"outlet_2_room": {
|
| 328 |
+
"cls": "WallAccessory"
|
| 329 |
+
},
|
| 330 |
+
"light_switch_room": {
|
| 331 |
+
"cls": "WallAccessory"
|
| 332 |
+
},
|
| 333 |
+
"light_switch_2_room": {
|
| 334 |
+
"cls": "WallAccessory"
|
| 335 |
+
},
|
| 336 |
+
"window_group_room": {
|
| 337 |
+
"cls": "Window"
|
| 338 |
+
},
|
| 339 |
+
"floor_room": {
|
| 340 |
+
"cls": "Floor"
|
| 341 |
+
},
|
| 342 |
+
"floor_backing_room": {
|
| 343 |
+
"cls": "Floor"
|
| 344 |
+
},
|
| 345 |
+
"stool_1_room": {
|
| 346 |
+
"cls": "Stool"
|
| 347 |
+
},
|
| 348 |
+
"stool_2_room": {
|
| 349 |
+
"cls": "Stool"
|
| 350 |
+
},
|
| 351 |
+
"stool_3_room": {
|
| 352 |
+
"cls": "Stool"
|
| 353 |
+
},
|
| 354 |
+
"counter_corner_main_main_group": {
|
| 355 |
+
"cls": "Counter"
|
| 356 |
+
},
|
| 357 |
+
"counter_main_main_group": {
|
| 358 |
+
"cls": "Counter"
|
| 359 |
+
},
|
| 360 |
+
"stovetop_main_group": {
|
| 361 |
+
"cls": "Stovetop"
|
| 362 |
+
},
|
| 363 |
+
"counter_1_right_main_group": {
|
| 364 |
+
"cls": "Counter"
|
| 365 |
+
},
|
| 366 |
+
"fridge_main_group": {
|
| 367 |
+
"cls": "FridgeFrenchDoor"
|
| 368 |
+
},
|
| 369 |
+
"fridge_housing_main_group": {
|
| 370 |
+
"cls": "HousingCabinet"
|
| 371 |
+
},
|
| 372 |
+
"stack_1_main_group_base": {
|
| 373 |
+
"cls": "Box"
|
| 374 |
+
},
|
| 375 |
+
"stack_1_main_group_1": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"stack_1_main_group_2": {
|
| 379 |
+
"cls": "Drawer"
|
| 380 |
+
},
|
| 381 |
+
"stack_1_main_group_3": {
|
| 382 |
+
"cls": "Drawer"
|
| 383 |
+
},
|
| 384 |
+
"stack_1_main_group_4": {
|
| 385 |
+
"cls": "Drawer"
|
| 386 |
+
},
|
| 387 |
+
"stack_2_main_group_base": {
|
| 388 |
+
"cls": "Box"
|
| 389 |
+
},
|
| 390 |
+
"stack_2_main_group_1": {
|
| 391 |
+
"cls": "HingeCabinet"
|
| 392 |
+
},
|
| 393 |
+
"stack_2_main_group_2": {
|
| 394 |
+
"cls": "PanelCabinet"
|
| 395 |
+
},
|
| 396 |
+
"stack_3_main_group_base": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"stack_3_main_group_1": {
|
| 400 |
+
"cls": "HingeCabinet"
|
| 401 |
+
},
|
| 402 |
+
"stack_3_main_group_2": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"stack_3_main_group_3": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"hood_main_group": {
|
| 409 |
+
"cls": "Hood"
|
| 410 |
+
},
|
| 411 |
+
"cab_main_main_group": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
+
"shelves_main_group": {
|
| 415 |
+
"cls": "OpenCabinet"
|
| 416 |
+
},
|
| 417 |
+
"fridge_cab_main_group": {
|
| 418 |
+
"cls": "HingeCabinet"
|
| 419 |
+
},
|
| 420 |
+
"paper_towel_main_group": {
|
| 421 |
+
"cls": "Accessory"
|
| 422 |
+
},
|
| 423 |
+
"knife_block_main_group": {
|
| 424 |
+
"cls": "Accessory"
|
| 425 |
+
},
|
| 426 |
+
"toaster_main_group": {
|
| 427 |
+
"cls": "Toaster"
|
| 428 |
+
},
|
| 429 |
+
"utensil_set_main_group": {
|
| 430 |
+
"cls": "Accessory"
|
| 431 |
+
},
|
| 432 |
+
"toaster_oven_main_group": {
|
| 433 |
+
"cls": "ToasterOven"
|
| 434 |
+
},
|
| 435 |
+
"jar_main_group": {
|
| 436 |
+
"cls": "Accessory"
|
| 437 |
+
},
|
| 438 |
+
"jar_2_main_group": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
},
|
| 441 |
+
"glass_cup_main_group": {
|
| 442 |
+
"cls": "Accessory"
|
| 443 |
+
},
|
| 444 |
+
"glass_cup_2_main_group": {
|
| 445 |
+
"cls": "Accessory"
|
| 446 |
+
},
|
| 447 |
+
"jar_main_group_auxiliary_main_group": {
|
| 448 |
+
"cls": "Accessory"
|
| 449 |
+
},
|
| 450 |
+
"jar_2_main_group_auxiliary_main_group": {
|
| 451 |
+
"cls": "Accessory"
|
| 452 |
+
},
|
| 453 |
+
"cab_1_left_group": {
|
| 454 |
+
"cls": "SingleCabinet"
|
| 455 |
+
},
|
| 456 |
+
"cab_2_left_group": {
|
| 457 |
+
"cls": "SingleCabinet"
|
| 458 |
+
},
|
| 459 |
+
"cab_corner_3_left_group": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"cab_corner_4_left_group": {
|
| 463 |
+
"cls": "Box"
|
| 464 |
+
},
|
| 465 |
+
"sink_left_group": {
|
| 466 |
+
"cls": "Sink"
|
| 467 |
+
},
|
| 468 |
+
"counter_1_left_left_group": {
|
| 469 |
+
"cls": "Counter"
|
| 470 |
+
},
|
| 471 |
+
"counter_corner_left_group": {
|
| 472 |
+
"cls": "Counter"
|
| 473 |
+
},
|
| 474 |
+
"bottom_left_group_base": {
|
| 475 |
+
"cls": "Box"
|
| 476 |
+
},
|
| 477 |
+
"bottom_left_group_1": {
|
| 478 |
+
"cls": "Drawer"
|
| 479 |
+
},
|
| 480 |
+
"bottom_left_group_2": {
|
| 481 |
+
"cls": "Drawer"
|
| 482 |
+
},
|
| 483 |
+
"oven_left_group": {
|
| 484 |
+
"cls": "Oven"
|
| 485 |
+
},
|
| 486 |
+
"oven_housing_left_group": {
|
| 487 |
+
"cls": "HousingCabinet"
|
| 488 |
+
},
|
| 489 |
+
"microwave_left_group": {
|
| 490 |
+
"cls": "Microwave"
|
| 491 |
+
},
|
| 492 |
+
"micro_housing_left_group": {
|
| 493 |
+
"cls": "HousingCabinet"
|
| 494 |
+
},
|
| 495 |
+
"top_left_group": {
|
| 496 |
+
"cls": "HingeCabinet"
|
| 497 |
+
},
|
| 498 |
+
"stack_1_left_group": {
|
| 499 |
+
"cls": "SingleCabinet"
|
| 500 |
+
},
|
| 501 |
+
"dishwasher_left_group": {
|
| 502 |
+
"cls": "Dishwasher"
|
| 503 |
+
},
|
| 504 |
+
"stack_2_left_group_base": {
|
| 505 |
+
"cls": "Box"
|
| 506 |
+
},
|
| 507 |
+
"stack_2_left_group_1": {
|
| 508 |
+
"cls": "HingeCabinet"
|
| 509 |
+
},
|
| 510 |
+
"stack_2_left_group_2": {
|
| 511 |
+
"cls": "PanelCabinet"
|
| 512 |
+
},
|
| 513 |
+
"stack_3_left_group_base": {
|
| 514 |
+
"cls": "Box"
|
| 515 |
+
},
|
| 516 |
+
"stack_3_left_group_1": {
|
| 517 |
+
"cls": "HingeCabinet"
|
| 518 |
+
},
|
| 519 |
+
"stack_3_left_group_2": {
|
| 520 |
+
"cls": "Drawer"
|
| 521 |
+
},
|
| 522 |
+
"stack_3_left_group_3": {
|
| 523 |
+
"cls": "Drawer"
|
| 524 |
+
},
|
| 525 |
+
"coffee_machine_left_group": {
|
| 526 |
+
"cls": "CoffeeMachine"
|
| 527 |
+
},
|
| 528 |
+
"soap_dispenser_left_group": {
|
| 529 |
+
"cls": "Accessory"
|
| 530 |
+
},
|
| 531 |
+
"tiered_basket_left_group": {
|
| 532 |
+
"cls": "Accessory"
|
| 533 |
+
},
|
| 534 |
+
"island_island_group": {
|
| 535 |
+
"cls": "Counter"
|
| 536 |
+
},
|
| 537 |
+
"plant_island_group": {
|
| 538 |
+
"cls": "Accessory"
|
| 539 |
+
},
|
| 540 |
+
"fruit_bowl_island_group": {
|
| 541 |
+
"cls": "Accessory"
|
| 542 |
+
},
|
| 543 |
+
"salt_shaker_island_group": {
|
| 544 |
+
"cls": "Accessory"
|
| 545 |
+
},
|
| 546 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 547 |
+
"cls": "Accessory"
|
| 548 |
+
}
|
| 549 |
+
},
|
| 550 |
+
"gen_textures": {},
|
| 551 |
+
"lang": "Pick the chicken drumstick and tomato from their plates and place them in the bowl. Then put the bowl in the fridge.",
|
| 552 |
+
"fixture_refs": {
|
| 553 |
+
"stool1": "stool_1_room",
|
| 554 |
+
"stool2": "stool_2_room",
|
| 555 |
+
"dining_counter": "island_island_group",
|
| 556 |
+
"fridge": "fridge_main_group"
|
| 557 |
+
},
|
| 558 |
+
"cam_configs": {
|
| 559 |
+
"robot0_agentview_center": {
|
| 560 |
+
"pos": [
|
| 561 |
+
-0.6,
|
| 562 |
+
0.0,
|
| 563 |
+
1.15
|
| 564 |
+
],
|
| 565 |
+
"quat": [
|
| 566 |
+
0.636945903301239,
|
| 567 |
+
0.3325185477733612,
|
| 568 |
+
-0.3199238181114197,
|
| 569 |
+
-0.6175596117973328
|
| 570 |
+
],
|
| 571 |
+
"parent_body": "mobilebase0_support"
|
| 572 |
+
},
|
| 573 |
+
"robot0_agentview_left": {
|
| 574 |
+
"pos": [
|
| 575 |
+
-0.5,
|
| 576 |
+
0.35,
|
| 577 |
+
1.05
|
| 578 |
+
],
|
| 579 |
+
"quat": [
|
| 580 |
+
0.55623853,
|
| 581 |
+
0.29935253,
|
| 582 |
+
-0.37678665,
|
| 583 |
+
-0.6775092
|
| 584 |
+
],
|
| 585 |
+
"camera_attribs": {
|
| 586 |
+
"fovy": "60"
|
| 587 |
+
},
|
| 588 |
+
"parent_body": "mobilebase0_support"
|
| 589 |
+
},
|
| 590 |
+
"robot0_agentview_right": {
|
| 591 |
+
"pos": [
|
| 592 |
+
-0.5,
|
| 593 |
+
-0.35,
|
| 594 |
+
1.05
|
| 595 |
+
],
|
| 596 |
+
"quat": [
|
| 597 |
+
0.6775091886520386,
|
| 598 |
+
0.3767866790294647,
|
| 599 |
+
-0.2993525564670563,
|
| 600 |
+
-0.55623859167099
|
| 601 |
+
],
|
| 602 |
+
"camera_attribs": {
|
| 603 |
+
"fovy": "60"
|
| 604 |
+
},
|
| 605 |
+
"parent_body": "mobilebase0_support"
|
| 606 |
+
},
|
| 607 |
+
"robot0_frontview": {
|
| 608 |
+
"pos": [
|
| 609 |
+
-0.5,
|
| 610 |
+
0,
|
| 611 |
+
0.95
|
| 612 |
+
],
|
| 613 |
+
"quat": [
|
| 614 |
+
0.6088936924934387,
|
| 615 |
+
0.3814677894115448,
|
| 616 |
+
-0.3673907518386841,
|
| 617 |
+
-0.5905545353889465
|
| 618 |
+
],
|
| 619 |
+
"camera_attribs": {
|
| 620 |
+
"fovy": "60"
|
| 621 |
+
},
|
| 622 |
+
"parent_body": "mobilebase0_support"
|
| 623 |
+
},
|
| 624 |
+
"robot0_eye_in_hand": {
|
| 625 |
+
"pos": [
|
| 626 |
+
0.05,
|
| 627 |
+
0,
|
| 628 |
+
0
|
| 629 |
+
],
|
| 630 |
+
"quat": [
|
| 631 |
+
0,
|
| 632 |
+
0.707107,
|
| 633 |
+
0.707107,
|
| 634 |
+
0
|
| 635 |
+
],
|
| 636 |
+
"parent_body": "robot0_right_hand"
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"init_robot_base_pos": [
|
| 640 |
+
4.040082140492433,
|
| 641 |
+
-3.353595919550439,
|
| 642 |
+
0.0
|
| 643 |
+
],
|
| 644 |
+
"init_robot_base_ori": [
|
| 645 |
+
0.0,
|
| 646 |
+
0.0,
|
| 647 |
+
3.1415889803846895
|
| 648 |
+
]
|
| 649 |
+
}
|