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sha256:ae1ddd9e25fc221f3fb05ee30da0f7f5f47fb1cc7ed38a2feb7ac0efe859414a +size 53162 diff --git a/extras/episode_000000/states.npz b/extras/episode_000000/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..92ecf176500156390a33686bf5a002e3d29761fc --- /dev/null +++ b/extras/episode_000000/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed1f383b91593bd6b9d00755652b0832a5fc720e5d4ae08fed2be6898a88c99e +size 1185348 diff --git a/extras/episode_000000/subtask.json b/extras/episode_000000/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..8ede56ea65adcc1c3681905cb06d1c4f4efbec8c --- /dev/null +++ b/extras/episode_000000/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 9.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 14.0, + "subtask": "navigate to the fridge" + }, + { + "time": 18.0, + "subtask": "open the 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{ + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_micro_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_corner_2_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + 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+ 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/extras/episode_000003/model.xml.gz b/extras/episode_000003/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..b828498cc5d080eb5b004d6079dd63dca6ab841e --- /dev/null +++ b/extras/episode_000003/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:581c794121177b5e4e1a6bcb856d42c6c12837e7ec7630388baecf71f59feaa5 +size 60589 diff --git a/extras/episode_000003/states.npz b/extras/episode_000003/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..6ea9407083b64f6729a97cf1ddfc01c437881c11 --- /dev/null +++ b/extras/episode_000003/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fbfc2f96a47004e534b973064f402df95005fd4a83cd6471497856a8c9f720a +size 2174943 diff --git a/extras/episode_000003/subtask.json b/extras/episode_000003/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..ba8e99b1eb6d4ed0fddc797bac835c6c968ca109 --- /dev/null +++ b/extras/episode_000003/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 13.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 20.0, + "subtask": "navigate to the fridge" + }, + { + "time": 25.0, + "subtask": "open both the fridge doors" + }, + { + "time": 49.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 61.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000004/ep_meta.json b/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50ff1822f0053eeebbe5ff57fa20055eac2e291f --- /dev/null +++ b/extras/episode_000004/ep_meta.json @@ -0,0 +1,593 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": 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"ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_6/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "ice_cube1", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.13189699379999995, + 0.13189699379999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml" + } + }, + { + "name": "ice_cube2", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.13189699379999995, + 0.13189699379999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml" + } + }, + { + "name": "glass_cup", + "obj_groups": "glass_cup", + "object_scale": [ + 1.25, + 1.25, + 1 + ], + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.08745108750000001, + 0.08745063750000001, + 0.1 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + 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b/extras/episode_000006/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffa3924ed97ef766744c2b16a5aaa79cbe82358921dc6f36bb4b445dfc06dc64 +size 67178 diff --git a/extras/episode_000006/states.npz b/extras/episode_000006/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..37319aecd6ea1deaa1c14d03e0018bb2311968fb --- /dev/null +++ b/extras/episode_000006/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:248ba5f178031918e1569d543e9dc973a68ff5a1977a808f6e56aeea8f5f3d52 +size 1663559 diff --git a/extras/episode_000006/subtask.json b/extras/episode_000006/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..5e45d23aa3b2a14c489e3d0390615df6fde8173b --- /dev/null +++ b/extras/episode_000006/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 13.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 23.0, + "subtask": "navigate to the fridge" + }, + { + "time": 28.0, + "subtask": "open both the fridge doors" + }, + { + "time": 53.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 65.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000007/ep_meta.json b/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74dc50d39915369ab207295dcbc8dd60e954f4bb --- /dev/null +++ b/extras/episode_000007/ep_meta.json @@ -0,0 +1,635 @@ +{ + "layout_id": 2, + "style_id": 2, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05298164, + 0.09842, + 0.050072 + ] + } + }, + "type": "object", + "info": { + 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0000000000000000000000000000000000000000..bd255331dedd9f4c4cd2600605592d5ad8d7dd03 --- /dev/null +++ b/extras/episode_000010/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eadfac52e22242dc5e61f8bc3fa222befe5912735438ace85159977e039daec5 +size 1191945 diff --git a/extras/episode_000010/subtask.json b/extras/episode_000010/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..37f2c5f6757897afc355b4b8ae5525c4968ec01e --- /dev/null +++ b/extras/episode_000010/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 41.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 47.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open both the fridge doors" + }, + { + "time": 21.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 28.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git 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b/extras/episode_000011/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c91296d3a303e270293d681478b6d1d26be780e0dcb4e5ac1bbf87a1e9b44e86 +size 67140 diff --git a/extras/episode_000011/states.npz b/extras/episode_000011/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5035225f697791aa2e0f976b3f40e62048e987ca --- /dev/null +++ b/extras/episode_000011/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85f26bc1dc56f4f1d6edf370894c4637c7ffeac72cb21c5816dbfaccaee52b82 +size 1403847 diff --git a/extras/episode_000011/subtask.json b/extras/episode_000011/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..bee41b97dacc221b8970f36b2e06c51a8bf58b76 --- /dev/null +++ b/extras/episode_000011/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 10.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 18.0, + "subtask": "navigate to the fridge" + }, + { + "time": 22.0, + "subtask": "open both the fridge doors" + }, + { + "time": 44.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 55.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000012/ep_meta.json b/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9cd26d0e69b9f7e40885e188224620f1131211f5 --- /dev/null +++ b/extras/episode_000012/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.042338, + 0.092772, + 0.048494 + ] + } + }, + "type": "object", + "info": { + 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/extras/episode_000012/model.xml.gz b/extras/episode_000012/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..034c10bc0e470b8472e59c0498e00fdf3e239f14 --- /dev/null +++ b/extras/episode_000012/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7a90f3e836aaec1ddf68398a398f6a107d934d6844b4ba7f5bc8671ff55ddce +size 67405 diff --git a/extras/episode_000012/states.npz b/extras/episode_000012/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..8706a710b895256cb02fe6402edd9d5edd901f53 --- /dev/null +++ b/extras/episode_000012/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c37e25baec4ed4d23e08cf1732c2a9be19544f1b82137e4810a51d9c2c2567a +size 1550828 diff --git a/extras/episode_000012/subtask.json b/extras/episode_000012/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..7030c8996350bd6276e628bda98bcdca83e258af --- /dev/null +++ b/extras/episode_000012/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 51.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 64.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open both the fridge doors" + }, + { + "time": 26.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 38.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000013/ep_meta.json b/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f6e02d40c2ad6f638aca5d731c99eddedeab692 --- /dev/null +++ b/extras/episode_000013/ep_meta.json @@ -0,0 +1,709 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": 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0000000000000000000000000000000000000000..ac3c68578b5e418d5228476c1db339505e54ac27 --- /dev/null +++ b/extras/episode_000015/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f9df77a561dcea7eebaf4a48ac738b40a60e55f737ee5d1557d4a7199ce6a7e +size 1214407 diff --git a/extras/episode_000015/subtask.json b/extras/episode_000015/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..c9b86e75ca3fe2d756c20049074294bdef3d5dd7 --- /dev/null +++ b/extras/episode_000015/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 11.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 15.0, + "subtask": "navigate to the fridge" + }, + { + "time": 19.0, + "subtask": "open the fridge door" + }, + { + "time": 32.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 39.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000016/ep_meta.json b/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fe59c7d44f1953c3ad0873e8209c69c020964dd --- /dev/null +++ b/extras/episode_000016/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05298164, + 0.09842, + 0.050072 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge010/model.xml" + }, + "reset_region": { + 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file mode 100644 index 0000000000000000000000000000000000000000..6c618842e2cbc417eda79c196e55bf949a0f0882 --- /dev/null +++ b/extras/episode_000016/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:519ae4ad476eaae1c8fdfa3aae43f31f5ca154d30463adcfd02fb1fd340b2d89 +size 779724 diff --git a/extras/episode_000016/subtask.json b/extras/episode_000016/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..cf97b9daff620768d6ef21d0eb87ef56c357724b --- /dev/null +++ b/extras/episode_000016/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 25.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 30.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 11.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 19.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git 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sha256:c0777c43c0cfbae6eb94c205c5e7e23a41407c2f2225abe4c53d63d66111061d +size 67284 diff --git a/extras/episode_000019/states.npz b/extras/episode_000019/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..b440c0ab53f1a27c2fe03a0d25935e5c449cc5de --- /dev/null +++ b/extras/episode_000019/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3db9774c084f9151a862f19eae2677a06bf197263e57f87e980c8ca1decdb381 +size 2041068 diff --git a/extras/episode_000019/subtask.json b/extras/episode_000019/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..530076015115f430815601d15d094237bd1bbbc3 --- /dev/null +++ b/extras/episode_000019/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 67.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 85.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open both the fridge doors" + }, + { + "time": 34.0, + "subtask": "pick 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b/extras/episode_000022/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..3a951ad1efe2ef4e2debca6198042abce489a31c --- /dev/null +++ b/extras/episode_000022/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1a5fd658331686dd409f26ed52037c43f9baefec7e790bc305b06f5094449e4 +size 77368 diff --git a/extras/episode_000022/states.npz b/extras/episode_000022/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..fea1b1476a18d0b57f157888bd9e598e1f26c237 --- /dev/null +++ b/extras/episode_000022/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d75c461aa92c04af0f9c075c7ccc0fbc0e25ff6e3744ab8be4596d06d2d20e88 +size 1636001 diff --git a/extras/episode_000022/subtask.json b/extras/episode_000022/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..b66160a59aab4bb497ca70f15c95497fea656344 --- /dev/null +++ b/extras/episode_000022/subtask.json @@ 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sha256:3fe9fdc425830a972cc8eb9cf4f0ca78ef686d8a3ce92de2779d7631eec95d47 +size 1449192 diff --git a/extras/episode_000023/subtask.json b/extras/episode_000023/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..05aac60d78fdfb487d7ea11325aaea19f74950e9 --- /dev/null +++ b/extras/episode_000023/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 47.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 58.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 14.0, + "subtask": "navigate to the fridge" + }, + { + "time": 0.0, + "subtask": "open both the fridge doors" + }, + { + "time": 24.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 36.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000024/ep_meta.json b/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b71df66131c280ac769f14f766143f3d9bc1209 --- /dev/null +++ b/extras/episode_000024/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.042338, + 0.092772, + 0.048494 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.21009813009897166 + ], + "size": [ + 0.6656846470611737, + 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} + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml" + } + }, + { + "name": "ice_cube2", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.12649641498999992, + 0.12649641498999992 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml" + } + }, + { + "name": "glass_cup", + "obj_groups": "glass_cup", + "object_scale": [ + 1.25, + 1.25, 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+ "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "counter_corner_front_group": { + "cls": "Counter" + }, + "salt_shaker_front_group": { + "cls": "Accessory" + }, + "salt_shaker_front_group_auxiliary_front_group": { + "cls": "Accessory" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_right_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "fruit_bowl_left_group": { + "cls": "Accessory" + }, + "stack_left_right_group_base": { + "cls": "Box" + }, + "stack_left_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_left_right_group_2": { + "cls": "SingleCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stack_right_right_group_base": { + "cls": "Box" + }, + "stack_right_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_right_right_group_2": { + "cls": "SingleCabinet" + }, + "cab_top_corner_right_group": { + "cls": "Box" + }, + "bottom_corner_right_group": { + "cls": "Box" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "oven_right_group": { + "cls": "Oven" + }, + "oven_housing_right_group": { + "cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Grab a lemon wedge from the fridge and one ice cube from the ice bowl, and put them in the glass of lemonade.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 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file mode 100644 index 0000000000000000000000000000000000000000..9bf9ba224b301d355e26d00c326e9aaaaa73efb5 --- /dev/null +++ b/extras/episode_000027/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb00228c2c49e5d1b24a7c00d5a30e4846a7d08eae2e4488bf74e223cbee430b +size 1557075 diff --git a/extras/episode_000027/subtask.json b/extras/episode_000027/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..234a8b7b088ba17e7fcdc3194ca27a4c35848ae1 --- /dev/null +++ b/extras/episode_000027/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 38.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 45.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 19.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 30.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000028/ep_meta.json b/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e87debe707b830c11308bec0fdf84da1ed02773 --- /dev/null +++ b/extras/episode_000028/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.031556, + 0.09862, + 0.033072 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge008/model.xml" + }, + "reset_region": { + "offset": [ + 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"/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube005/model.xml" + } + }, + { + "name": "glass_cup", + "obj_groups": "glass_cup", + "object_scale": [ + 1.25, + 1.25, + 1 + ], + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.1080125, + 0.10806750000000001, + 0.109506 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_1_right_main_group": { + "cls": "Counter" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_1_main_group_base": { + "cls": 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"cls": "Accessory" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_2_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_left_group": { + "cls": "Box" + }, + "cab_corner_4_left_group": { + "cls": "Box" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + 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0000000000000000000000000000000000000000..b0f08c9f3475b015fe7f64a68dbb08bd3166c0d5 --- /dev/null +++ b/extras/episode_000031/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9558f787ac737704cbcc3d5fa445ba51909c3c9cf8c120574b10d768c04738c7 +size 1575213 diff --git a/extras/episode_000031/subtask.json b/extras/episode_000031/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..29634d2926f723ce43999e96ccf5c762592331cc --- /dev/null +++ b/extras/episode_000031/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 43.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 53.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 22.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 35.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git 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file mode 100644 index 0000000000000000000000000000000000000000..2faefbb13274c137eef6891e1d34847c7aca6a0e --- /dev/null +++ b/extras/episode_000032/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a91c8cc3006e2a3494d0a258726cf111d8f43ebc01267a98b80fef0e22579ec5 +size 1332335 diff --git a/extras/episode_000032/subtask.json b/extras/episode_000032/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..53eab46d616f398dbc924bc428bdf0b39ef321dc --- /dev/null +++ b/extras/episode_000032/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 40.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 51.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 18.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 29.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git 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"fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_1_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "plant_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "oil_bottle_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "salt_shaker_left_group_auxiliary_left_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Grab a lemon wedge from the fridge and one ice cube from the ice bowl, and put them in the glass of lemonade.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_2_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2527441663803387, + -2.9762945512545222, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/extras/episode_000034/model.xml.gz b/extras/episode_000034/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..cfc1f3c0c18a811f78678b2dceaeacd51cfbad1b --- /dev/null +++ b/extras/episode_000034/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:347e0dcb7f6df863b85af8c4311d9aee835ae703cf09747b558dab403f08f4a0 +size 63847 diff --git a/extras/episode_000034/states.npz b/extras/episode_000034/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..1ddb473cba799d3872d31750dec8a2ccdbb4405f --- /dev/null +++ b/extras/episode_000034/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85467e15cc6cd51e222a407981b600fbe130c92facce092b0e1da4a934ad48a2 +size 1894167 diff --git a/extras/episode_000034/subtask.json b/extras/episode_000034/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..1b3ccf9c6f18aed895138626d7f458794657481f --- /dev/null +++ b/extras/episode_000034/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 44.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 52.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open both the fridge doors" + }, + { + "time": 24.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 33.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000035/ep_meta.json b/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c91abf14c8805c743908e1e89479e68279b7cb7 --- /dev/null +++ b/extras/episode_000035/ep_meta.json @@ -0,0 +1,783 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.045064, + 0.098476, + 0.05148 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09444338166204168, + 0.5092108047621914 + ], + "size": [ + 0.4128378194384873, + 0.5358628189113166 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "fridge_distractor", + "fridgable": true, + "exclude_obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0, + 1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 0.5, + 1.5 + ], + "min_size": [ + 0.0869736536, + 0.11591641659999999, + 0.08677932085 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "test", + "mjcf_path": 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"size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "ice_cube1", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.14257470083999996, + 0.14257470083999996 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml" + } + }, + { + "name": "ice_cube2", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.14257470083999996, + 0.14257470083999996 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube005/model.xml" + } + }, + { + "name": "glass_cup", + "obj_groups": "glass_cup", + "object_scale": [ + 1.25, + 1.25, + 1 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.1242527375, + 0.1242605, + 0.12121953 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + 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+version https://git-lfs.github.com/spec/v1 +oid sha256:9c4a91e063d3fa535fbbb4ec9b65ff66dec1fb0944a147eda5a6c16f926344ff +size 1942780 diff --git a/extras/episode_000038/subtask.json b/extras/episode_000038/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..d4cba7be2c1dbf783918649adc64a74619e575d7 --- /dev/null +++ b/extras/episode_000038/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 11.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 19.0, + "subtask": "navigate to the fridge" + }, + { + "time": 23.0, + "subtask": "open the fridge door" + }, + { + "time": 42.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 53.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000039/ep_meta.json b/extras/episode_000039/ep_meta.json new file mode 100644 index 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0000000000000000000000000000000000000000..d055fdfb93c93ffbcb1caa7a1b57b6b397c6daea --- /dev/null +++ b/extras/episode_000042/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1a0d60c42e5debd5c859785e43de3f209db51a7bf3fdaffd1179a24f89f9a74 +size 53445 diff --git a/extras/episode_000042/states.npz b/extras/episode_000042/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..b52d681d4f6d57f3863921a97dc7bea42ffb6876 --- /dev/null +++ b/extras/episode_000042/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce9752bfebf5e00fa69b31e66fe0cbb0f77dc116cad65ef24a155db78160ce4c +size 1854372 diff --git a/extras/episode_000042/subtask.json b/extras/episode_000042/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..e6336e27042dec034c5ffb2344bafdbda7182cb1 --- /dev/null +++ b/extras/episode_000042/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 11.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 23.0, + "subtask": "navigate to the fridge" + }, + { + "time": 28.0, + "subtask": "open the fridge door" + }, + { + "time": 45.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 54.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000043/ep_meta.json b/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..117e3b0e35f3a8ad4631881f1b40ff2e24714485 --- /dev/null +++ b/extras/episode_000043/ep_meta.json @@ -0,0 +1,656 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05298164, + 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"dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "flower_vase_left_group": { + "cls": "Accessory" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "glass_cup_left_group": { + "cls": "Accessory" + }, + "digital_scale_left_group": { + "cls": "Accessory" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_right_main_group": { + "cls": "Counter" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_micro_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "tiered_basket_main_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Grab a lemon wedge from the fridge and one ice cube from the ice bowl, and put them in the glass of lemonade.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": 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], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415963267948968 + ] +} \ No newline at end of file diff --git a/extras/episode_000046/model.xml.gz b/extras/episode_000046/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..b53397ca50f3cb7e1f723c639d15bf64b0de2bfe --- /dev/null +++ b/extras/episode_000046/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0dea48a245f188bc7e4842ffe944a1e78ad488c787d5a5e17d4302d28707743 +size 58950 diff --git a/extras/episode_000046/states.npz b/extras/episode_000046/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..7a0fbce232eb6de42b14e1543348912238acabb3 --- /dev/null +++ b/extras/episode_000046/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44283dba69f2611b3ced7b57235601fb066a95da3af2496ede00bfe0e8a8b5e4 +size 1137272 diff --git a/extras/episode_000046/subtask.json b/extras/episode_000046/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..28b5f9b50f56ef15bfe711f4bb53ed5bf38f4909 --- /dev/null +++ b/extras/episode_000046/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 32.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 43.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 15.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 23.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000047/ep_meta.json b/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c67ac039ba8b9b2a4e89ded051ddea518c26a45 --- /dev/null +++ b/extras/episode_000047/ep_meta.json @@ -0,0 +1,595 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + 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0.127373022, + 0.1060532025, + 0.126034587 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lettuce", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce008/model.xml" + }, + "reset_region": { + "offset": [ + 0.0006283580740888139, + 0.1306361873839963, + 0.5174214961304935 + ], + "size": [ + 0.6656846470611737, + 0.50693639215253 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "ice_bowl", + "obj_groups": "bowl", + "object_scale": [ + 1.1, + 1.1, + 0.75 + ], + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.2859876590999999, + 0.2851494016799999, + 0.05575820054999997 + ] + }, + "size": [ + 1.0, + 0.4 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_9/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "ice_cube1", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.14257470083999996, + 0.14257470083999996 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml" + } + }, + { + "name": "ice_cube2", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.14257470083999996, + 0.14257470083999996 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml" + } + }, + { + "name": "glass_cup", + "obj_groups": "glass_cup", + "object_scale": [ + 1.25, + 1.25, + 1 + ], + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.08745108750000001, + 0.08745063750000001, + 0.1 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_main_main_group": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_main_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "soap_dispenser_main_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_left_right_group": { + "cls": "Counter" + }, + "stove_right_group": { + "cls": "Stove" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" + }, + "jar_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group": { + "cls": "Accessory" + }, + "paprika_right_group": { + "cls": "Accessory" + }, + "turmeric_right_group": { + "cls": "Accessory" + }, + "oil_bottle_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "jar_right_group_auxiliary_right_group": { + "cls": "Accessory" + }, + "salt_shaker_right_group_auxiliary_right_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Grab a lemon wedge from the fridge and one ice cube from the ice bowl, and put them in the glass of lemonade.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_2_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 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sha256:349a933b5ffe8ced46b7f9cb3cd1de911bfe6bc1c294872e5853a7d8076bbfdf +size 77359 diff --git a/extras/episode_000051/states.npz b/extras/episode_000051/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..71a3acaf3dc643132ec759dcf20a8f0cb842d09a --- /dev/null +++ b/extras/episode_000051/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b891a272024a90b81c56c19f9217ec326577c0443b0cb93c4bcf994f7684f5ac +size 1688964 diff --git a/extras/episode_000051/subtask.json b/extras/episode_000051/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..a1feab604507a4beead76648baf6da856469332a --- /dev/null +++ b/extras/episode_000051/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 8.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 14.0, + "subtask": "navigate to the fridge" + }, + { + "time": 18.0, + "subtask": "open the 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"paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "digital_scale_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "jar_main_group": { + "cls": "Accessory" + }, + "paprika_main_group": { + "cls": "Accessory" + }, + "cinnamon_main_group": { + "cls": "Accessory" + }, + "turmeric_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "jar_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + 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0000000000000000000000000000000000000000..8b9ddb152bcb2f1e3b7b0c510733235bfef35263 --- /dev/null +++ b/extras/episode_000055/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29fd97fbee0c22df8573b923f8dc0381246fa93d6caf3c07c0e50fcf2fa55586 +size 2043124 diff --git a/extras/episode_000055/subtask.json b/extras/episode_000055/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..5c1dbf145913e56eea49a76f563feb8b2617a18a --- /dev/null +++ b/extras/episode_000055/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 48.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 64.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 16.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 32.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git 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"/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube005/model.xml" + } + }, + { + "name": "glass_cup", + "obj_groups": "glass_cup", + "object_scale": [ + 1.25, + 1.25, + 1 + ], + "placement": { + "fixture": "counter_1_right_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.08745108750000001, + 0.08745063750000001, + 0.1 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml" + }, + "reset_region": { + "size": [ + 1.0169216362207782, + 0.65 + ], + "offset": [ + 0.4915391818896109, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, 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wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000064/ep_meta.json b/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99ec07172e551a208599cef9f479c441fc9f5a42 --- /dev/null +++ b/extras/episode_000064/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.055002, + 0.099718, + 0.055252 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": 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"bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group": { + "cls": "SingleCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "soap_dispenser_left_group": { + "cls": "Accessory" + }, + 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b/extras/episode_000064/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..2a11f1b4d7b1bac2a55fe7e339d86690a6d0a6d0 --- /dev/null +++ b/extras/episode_000064/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ba5378d0875346dbad18569b92ceff46574529eb35265c39106b697b3b0dc78 +size 67366 diff --git a/extras/episode_000064/states.npz b/extras/episode_000064/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..89f6aeb38c4248e55211d0c47497f90c1a856b6e --- /dev/null +++ b/extras/episode_000064/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ca144d1cc55535794f33d67c973f06b342759650bb153c745d299b60bb70df4 +size 1663229 diff --git a/extras/episode_000064/subtask.json b/extras/episode_000064/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..3a4d0e9a1b407ff135a57fdca8dcb7b4596aeeac --- /dev/null +++ b/extras/episode_000064/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 13.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 22.0, + "subtask": "navigate to the fridge" + }, + { + "time": 28.0, + "subtask": "open both the fridge doors " + }, + { + "time": 53.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 64.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000065/ep_meta.json b/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..660c026d5c1e92a82041992fec23a34184de6e1a --- /dev/null +++ b/extras/episode_000065/ep_meta.json @@ -0,0 +1,784 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + 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sha256:ec44a888b017454b27fdbf18bb90d8fc123fca2072336d6093f7a755077ae9d2 +size 1088468 diff --git a/extras/episode_000068/subtask.json b/extras/episode_000068/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..fe571991e7e1c9e086bc5903d23e9f7a845c1c82 --- /dev/null +++ b/extras/episode_000068/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 8.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 11.0, + "subtask": "navigate to the fridge" + }, + { + "time": 13.0, + "subtask": "open both the fridge doors" + }, + { + "time": 33.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 43.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000069/ep_meta.json b/extras/episode_000069/ep_meta.json new file mode 100644 index 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index 0000000000000000000000000000000000000000..b156dd5c4209e611170d7e55098946f6c48ec57f --- /dev/null +++ b/extras/episode_000069/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 14.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 22.0, + "subtask": "navigate to the fridge" + }, + { + "time": 26.0, + "subtask": "open both the fridge doors" + }, + { + "time": 54.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 64.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000070/ep_meta.json b/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f7dc06ed2c3b669effca9b5aa6520478de6edbe --- /dev/null +++ b/extras/episode_000070/ep_meta.json @@ -0,0 +1,709 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": 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sha256:ce7b275b45b3ca30fec4ce789e8f41ab381ba5b2ac448122784224e5eafeb13d +size 1469595 diff --git a/extras/episode_000072/subtask.json b/extras/episode_000072/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..c92b9825ccbdfecd83ec8a88757d45cd81ea5728 --- /dev/null +++ b/extras/episode_000072/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 40.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 49.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 19.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 29.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000073/ep_meta.json b/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4957eed47ace24e8b38e00bf140052a3309f4af4 --- /dev/null +++ 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"light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Grab a lemon wedge from the fridge and one ice cube from the ice bowl, and put them in the glass of lemonade.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" 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+version https://git-lfs.github.com/spec/v1 +oid sha256:8cc01ae480b9fafc00b966ba249e47745d70fc216fbf9ab6b5bd80a474907e7e +size 1598475 diff --git a/extras/episode_000073/subtask.json b/extras/episode_000073/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..2cadaaba9a22c59a6aca339fec4fd3d8f626d677 --- /dev/null +++ b/extras/episode_000073/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 40.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 54.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 19.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 30.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000074/ep_meta.json b/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2523b93068358329042ee051677c38cb2ced6b5 --- /dev/null +++ b/extras/episode_000074/ep_meta.json @@ -0,0 +1,533 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.045064, + 0.098476, + 0.05148 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml" + }, + "reset_region": { + "offset": [ + -0.012901757557804622, + -0.04411236332686859, + 0.20733839687653566 + ], + "size": [ + 0.6340515375869524, + 0.45862527440377643 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "fridge_distractor", + 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"ref": "fridge_main_group", + "min_size": [ + 0.1080125, + 0.10806750000000001, + 0.109506 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml" + }, + "reset_region": { + "size": [ + 0.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { 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/dev/null +++ b/extras/episode_000074/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:184262a428e9e76652b38dc172000bf66b31e0f8f87021f3964cf021d1acf81d +size 42010 diff --git a/extras/episode_000074/states.npz b/extras/episode_000074/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..2cd5ce3f7cee29f8c3d24d943244b8605d4e9848 --- /dev/null +++ b/extras/episode_000074/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e63abcfc2791a9faffe15da5c1fc49154fb46163241abd29714e7c0dac423852 +size 1582124 diff --git a/extras/episode_000074/subtask.json b/extras/episode_000074/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..1fb354e58beacb095eab817812d9685f7ca04f9d --- /dev/null +++ b/extras/episode_000074/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 12.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 22.0, + "subtask": "navigate to the fridge" + }, + { + "time": 25.0, + "subtask": "open the fridge door" + }, + { + "time": 42.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 50.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000075/ep_meta.json b/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6cd8be8e684f9fbb4a2bfdeff042b4569604834 --- /dev/null +++ b/extras/episode_000075/ep_meta.json @@ -0,0 +1,715 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.031556, + 0.09862, + 0.033072 + ] + } + }, + "type": "object", + "info": { + 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sha256:38bcd02a538d832f1f09ef95abd6b04f8f1513ea141909eaeafaf8fc0249a3ae +size 63726 diff --git a/extras/episode_000075/states.npz b/extras/episode_000075/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a5f6803093d4d34db3ce0b70940d1f37952799b --- /dev/null +++ b/extras/episode_000075/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c694345db8d6ea6822c5e530b20412e8374389e371d9abdc8b444a542cb14ca4 +size 1512674 diff --git a/extras/episode_000075/subtask.json b/extras/episode_000075/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..c8bc3470357f8a7cd86d5242c7fb69ad80aaab29 --- /dev/null +++ b/extras/episode_000075/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 11.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 24.0, + "subtask": "navigate to the fridge" + }, + { + "time": 28.0, + "subtask": "open both 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{ + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "SingleCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "cab_micro_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "SingleCabinet" + }, + "shelves_right_group": { + "cls": "OpenCabinet" + }, + "cab_3_right_group": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "oil_bottle_right_group": { + "cls": "Accessory" + }, + "tiered_basket_right_group": { + "cls": "Accessory" 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file diff --git a/extras/episode_000077/model.xml.gz b/extras/episode_000077/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..30dd24c5b28a402a48bd3b7a912d486d85bd3bce --- /dev/null +++ b/extras/episode_000077/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:327c1489fb7cbbdc53c1cf1cac69550087bcb4d017422805af6f8cb0777890c9 +size 53059 diff --git a/extras/episode_000077/states.npz b/extras/episode_000077/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f68179bbf93b82cd9e209fef03d18b20c97221b3 --- /dev/null +++ b/extras/episode_000077/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7639266b0f12610cc05c05043af21fd177483e72244c4e66ebdea5c64dcc6707 +size 1052219 diff --git a/extras/episode_000077/subtask.json b/extras/episode_000077/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..4555a379c082affa8795041668b5d414bcc5dd0e --- /dev/null +++ b/extras/episode_000077/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 30.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 34.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 17.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 23.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000078/ep_meta.json b/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a94eb3eac3584fb7cef00dec8eb6295ad266b4 --- /dev/null +++ b/extras/episode_000078/ep_meta.json @@ -0,0 +1,536 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + 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1691205 diff --git a/extras/episode_000080/subtask.json b/extras/episode_000080/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..2370a28145a1c8a5f7e4f79d847bded175f31f2d --- /dev/null +++ b/extras/episode_000080/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 11.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 21.0, + "subtask": "navigate to the fridge" + }, + { + "time": 27.0, + "subtask": "open both the fridge doors" + }, + { + "time": 58.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 64.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000081/ep_meta.json b/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42b093568b943c846a4551a580d8c6bd79446792 --- /dev/null +++ b/extras/episode_000081/ep_meta.json @@ 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"SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_1_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_4": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "fridge_cab_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Grab a lemon wedge from the fridge and one ice cube from the ice bowl, and put them in the glass of lemonade.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.268467336461277, + -3.2278094783056135, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -3.673205103416066e-06 + ] +} \ No newline at end of file diff --git a/extras/episode_000081/model.xml.gz b/extras/episode_000081/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..6dbe80c4d74718c9950c6ad678128853394886a7 --- /dev/null +++ b/extras/episode_000081/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66c027a31fcb5e81110f65ba552c30d1b2069e64eee6544dd279fadd0923ad76 +size 81617 diff --git a/extras/episode_000081/states.npz b/extras/episode_000081/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..3b87f15bac4117468995c5bef713489baa57ef9a --- /dev/null +++ b/extras/episode_000081/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:980b9036d47822b7520f55823043ab8b328bcddd2fac78b7d7c50664126f3ac4 +size 1648968 diff --git a/extras/episode_000081/subtask.json b/extras/episode_000081/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..44ab54fc9765d4749fded35353238b4963527106 --- /dev/null +++ b/extras/episode_000081/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 9.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 19.0, + "subtask": "navigate to the fridge" + }, + { + "time": 24.0, + "subtask": "open the fridge door" + }, + { + "time": 41.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 53.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000082/ep_meta.json b/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45e6404f903e4603ca26f1b0deb70563fb24f7d2 --- /dev/null +++ b/extras/episode_000082/ep_meta.json @@ -0,0 +1,784 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.042338, + 0.092772, + 0.048494 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09431713873401872, + 0.1835105829355773 + ], + "size": [ + 0.4128378194384873, + 0.5356103330552707 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fridge_distractor", + "fridgable": true, + "exclude_obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + 0, + 1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 0.5, + 1.5 + ], + "min_size": [ + 0.0629455152, + 0.11963970507998142, + 0.06621757293800225 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_19/model.xml" + }, + "reset_region": { + "offset": [ + 0.17648921902301634, + 0.09444338166204168, + 0.5092108047621914 + ], + "size": [ + 0.4128378194384873, + 0.5358628189113166 + ], + "name": "fridge_shelf2" + } + }, + { + "name": "ice_bowl", + "obj_groups": "bowl", + "object_scale": [ + 1.1, + 1.1, + 0.75 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"object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml" + } + }, + { + "name": "ice_cube2", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.14299611325999995, + 0.14299611325999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube005/model.xml" + } + }, + { + "name": "glass_cup", + "obj_groups": "glass_cup", + "object_scale": [ + 1.25, + 1.25, + 1 + ], + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.08745108750000001, + 0.08745063750000001, + 0.1 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "utensil_rack_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stovetop_main_group": { + "cls": "Stovetop" + }, + "counter_main_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "cab_corner_main_group": { + "cls": "Box" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "shelves_main_group": { + "cls": "OpenCabinet" + }, + "cab_main_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_3_main_group": { + "cls": "Box" + }, + "cab_corner_4_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "utensil_set_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group": { + "cls": "Accessory" + }, + "glass_cup_main_group": { + "cls": "Accessory" + }, + "glass_cup_2_main_group": { + "cls": "Accessory" + }, + "oil_bottle_main_group_auxiliary_main_group": { + "cls": "Accessory" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "island_stack_1_island_group_base": { + "cls": "Box" + }, + "island_stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "island_stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "island_panel_cab_right_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_right_island_group_1": { + "cls": "PanelCabinet" + }, + "island_cab_right_island_group_base": { + "cls": "Box" + }, + "island_cab_right_island_group_1": { + "cls": "Drawer" + }, + "island_cab_right_island_group_2": { + "cls": "Drawer" + }, + "island_cab_right_island_group_3": { + "cls": "Drawer" + }, + "island_cab_right_island_group_4": { + "cls": "Drawer" + }, + "island_panel_cab_left_island_group_base": { + "cls": "Box" + }, + "island_panel_cab_left_island_group_1": { + "cls": "PanelCabinet" + }, + "island_base_box_island_group": { + "cls": "Box" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "soap_dispenser_island_group": { + "cls": "Accessory" + }, + "fruit_bowl_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group": { + "cls": "Accessory" + }, + "salt_shaker_island_group_auxiliary_island_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_corner_left_group": { + "cls": "Counter" + }, + "bottom_left_group_base": { + "cls": "Box" + }, + "bottom_left_group_1": { + "cls": "Drawer" + }, + "bottom_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "oven_housing_left_group": { + "cls": "HousingCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "micro_housing_left_group": { + "cls": "HousingCabinet" + }, + "top_left_group": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_4": { + "cls": "Drawer" + }, + "shelves_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "paprika_left_group": { + "cls": "Accessory" + }, + "cinnamon_left_group": { + "cls": "Accessory" + }, + "turmeric_left_group": { + "cls": "Accessory" + }, + "jar_left_group": { + "cls": "Accessory" + }, + "jar_left_group_auxiliary_left_group": { + "cls": "Accessory" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + 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cube from the ice bowl, and put them in the glass of lemonade.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_right_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, 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0000000000000000000000000000000000000000..20ba9c13e2d651675d6524f026fad676f06d63a2 --- /dev/null +++ b/extras/episode_000082/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:437dc8763ab8a05ec25a0ed8922ab20384ba8a9e49229d54643f168ae920bf92 +size 1590679 diff --git a/extras/episode_000082/subtask.json b/extras/episode_000082/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..36cd5087896f29ad9e35a6f9faefae95ce81fa08 --- /dev/null +++ b/extras/episode_000082/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 12.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 22.0, + "subtask": "navigate to the fridge" + }, + { + "time": 25.0, + "subtask": "open the fridge door" + }, + { + "time": 43.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 52.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000083/ep_meta.json b/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a20df407b47edd3f7952d1c9a660f2d278495d0b --- /dev/null +++ b/extras/episode_000083/ep_meta.json @@ -0,0 +1,595 @@ +{ + "layout_id": 3, + "style_id": 3, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.031556, + 0.09862, + 0.033072 + ] + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "lemon_wedge" + ], + "cat": "lemon_wedge", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge008/model.xml" + }, + "reset_region": { + 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+ "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml" + } + }, + { + "name": "ice_cube2", + "obj_groups": "ice_cube", + "object_scale": 0.9, + "placement": { + "size": [ + 0.13189699379999995, + 0.13189699379999995 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "ice_bowl", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "ice_cube" + ], + "cat": "ice_cube", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml" + } + }, + { + "name": "glass_cup", + "obj_groups": "glass_cup", + "object_scale": [ + 1.25, + 1.25, + 1 + ], + "placement": { + "fixture": "counter_2_right_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.1242527375, + 0.1242605, + 0.12121953 + ] + }, + "size": [ + 0.5, + 0.25 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + 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index 0000000000000000000000000000000000000000..53307499a0b13b12898305157e4da895bc0d4222 --- /dev/null +++ b/extras/episode_000085/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 37.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 47.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 16.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 30.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000086/ep_meta.json b/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6eef03febd1aedb141b626c61a559f452573c2a8 --- /dev/null +++ b/extras/episode_000086/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 1, + "style_id": 1, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_main_group", + 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b/extras/episode_000086/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a227b14a26576feaad098e9cac2d4f8e46a23189 --- /dev/null +++ b/extras/episode_000086/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1bd61cc3fdaca7a5b82934662a16f5c248ffe68cf367dbd6907d92063c4a677 +size 1615657 diff --git a/extras/episode_000086/subtask.json b/extras/episode_000086/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..364c4b976e4bad44dc718372b4ab7dbba28d2028 --- /dev/null +++ b/extras/episode_000086/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 46.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 55.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 23.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 35.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline 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0000000000000000000000000000000000000000..a9c58a0758c38151a0fa494b61db422ecf23fece --- /dev/null +++ b/extras/episode_000089/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a027a5d1e35e15dec24e4939a97473a78362707a49e35c3d25228eb8e86ba650 +size 42071 diff --git a/extras/episode_000089/states.npz b/extras/episode_000089/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..67b4433237619f92c5f7862794ff0afe4a250853 --- /dev/null +++ b/extras/episode_000089/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d6c0c306ca67dee121b5486154e814f5de3593d04a0705b0dc51a100e01bce5 +size 1920802 diff --git a/extras/episode_000089/subtask.json b/extras/episode_000089/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..621c6a3581c378b9a1f5439577215fd2604443ee --- /dev/null +++ b/extras/episode_000089/subtask.json @@ -0,0 +1,22 @@ +[ + { + "time": 55.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 69.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 0.0, + "subtask": "open the fridge door" + }, + { + "time": 27.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 38.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000090/ep_meta.json b/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0807c9f557eb66d24048760ef95c4169cbcc783 --- /dev/null +++ b/extras/episode_000090/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 4, + "style_id": 4, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_main_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.031556, + 0.09862, + 0.033072 + ] + } + }, + "type": "object", + "info": 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index 0000000000000000000000000000000000000000..0a62c2588709ce857baf631f36e6df743f9f89c4 --- /dev/null +++ b/extras/episode_000093/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 9.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 16.0, + "subtask": "navigate to the fridge" + }, + { + "time": 21.0, + "subtask": "open both the fridge doors" + }, + { + "time": 41.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 47.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000094/ep_meta.json b/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..443f242b9d04c720f11427f15af780ad94cbd257 --- /dev/null +++ b/extras/episode_000094/ep_meta.json @@ -0,0 +1,655 @@ +{ + "layout_id": 8, + "style_id": 8, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": 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cube from ice bowl" + }, + { + "time": 9.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 19.0, + "subtask": "navigate to the fridge" + }, + { + "time": 21.0, + "subtask": "open both the fridge doors" + }, + { + "time": 49.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 62.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000095/ep_meta.json b/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1cf980239446a99f5f6b0ec22cd5df0dbc44123 --- /dev/null +++ b/extras/episode_000095/ep_meta.json @@ -0,0 +1,617 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.055002, 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b/extras/episode_000096/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 10.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 21.0, + "subtask": "navigate to the fridge" + }, + { + "time": 25.0, + "subtask": "open the fridge door" + }, + { + "time": 37.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 47.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000097/ep_meta.json b/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9bf4551cc0409495466ba3ad1c5dd1042f0dba58 --- /dev/null +++ b/extras/episode_000097/ep_meta.json @@ -0,0 +1,715 @@ +{ + "layout_id": 10, + "style_id": 10, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 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/dev/null +++ b/extras/episode_000097/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a93eb976c69d967f10631c7af9298de20ea48a754cfe02c260041f1765d5de43 +size 63659 diff --git a/extras/episode_000097/states.npz b/extras/episode_000097/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..73fd8d9cb6ce19c064a2026a6b3ac958fb2db505 --- /dev/null +++ b/extras/episode_000097/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ad101d9ead54a5c897774f8856ed134768f98b30590aea310a4aaff435be302 +size 1641252 diff --git a/extras/episode_000097/subtask.json b/extras/episode_000097/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..289d18cc2583466f5669684c7b61a93dffd425b7 --- /dev/null +++ b/extras/episode_000097/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 15.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 22.0, + "subtask": "navigate to the fridge" + }, + { + "time": 26.0, + "subtask": "open both the fridge doors" + }, + { + "time": 51.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 61.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000098/ep_meta.json b/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be216607f3cfa3b4fbdccf7157ab17b75526bd08 --- /dev/null +++ b/extras/episode_000098/ep_meta.json @@ -0,0 +1,616 @@ +{ + "layout_id": 5, + "style_id": 5, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_left_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05298164, + 0.09842, + 0.050072 + ] + } + }, + "type": "object", + "info": { + 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0000000000000000000000000000000000000000..2d19eed4fa6c610e2bb4b41f48f57e4dc774ef38 --- /dev/null +++ b/extras/episode_000098/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c52942fa9e203395139e7d5ed4b131a075eedcd74c8bf1786e19697fdcbbce7 +size 58845 diff --git a/extras/episode_000098/states.npz b/extras/episode_000098/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d8e23939fcd9236daac0cfe4ad873c10aeabed2 --- /dev/null +++ b/extras/episode_000098/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e097db77d3108d2444dc5f09f5dfe69b6beb6360204915bf8831dec37426fd0c +size 1555324 diff --git a/extras/episode_000098/subtask.json b/extras/episode_000098/subtask.json new file mode 100644 index 0000000000000000000000000000000000000000..492d45019f1ea6ecca951604a68459152aa99bca --- /dev/null +++ b/extras/episode_000098/subtask.json @@ -0,0 +1,26 @@ +[ + { + "time": 0.0, + "subtask": "pick up the ice cube from ice bowl" + }, + { + "time": 20.0, + "subtask": "place the ice cube in glas cup" + }, + { + "time": 29.0, + "subtask": "navigate to the fridge" + }, + { + "time": 32.0, + "subtask": "open the fridge door" + }, + { + "time": 49.0, + "subtask": "pick up the lemon wedge from the fridge" + }, + { + "time": 61.0, + "subtask": "place the lemon wedge into the glass cup" + } +] \ No newline at end of file diff --git a/extras/episode_000099/ep_meta.json b/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1b2e17c36a488d5f129c4ab4c89042605c59a4b --- /dev/null +++ b/extras/episode_000099/ep_meta.json @@ -0,0 +1,707 @@ +{ + "layout_id": 9, + "style_id": 9, + "object_cfgs": [ + { + "name": "lemon_wedge", + "obj_groups": "lemon_wedge", + "placement": { + "fixture": "fridge_right_group", + "size": [ + 0.25, + 0.2 + ], + "pos": [ + 0, + -1.0 + ], + "sample_region_kwargs": { + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.045064, + 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