{
  "additionalProperties": false,
  "description": "Typed validator helper for ``SceneSpec.backend_options`` under RoboCasa.\n\nRoboCasa exposes two scenario modes:\n\n* **prebuilt** \u2014 pick one of the ~100 atomic-PnP / door / drawer /\n  navigation tasks shipped with the package by name (e.g.\n  ``\"PnPCounterToCab\"``). Set :attr:`prebuilt_task`; leave all\n  procedural keys at their defaults.\n* **procedural** -- author a kitchen by composing\n  :attr:`kitchen_style` x :attr:`layout_id` x :attr:`fixtures` x\n  :attr:`spawn_objects` x :attr:`task_verb`. Set :attr:`mode` to\n  ``\"procedural\"`` and leave :attr:`prebuilt_task` ``None``.\n\nThe model is **purely additive**: it lives alongside\n:class:`SceneSpec` and is constructed by the RoboCasa scene adapter\nat factory time via ``RoboCasaBackendOptions.model_validate(\nscene.backend_options)``. The parent ``SceneSpec.backend_options:\ndict[str, object]`` field is unchanged, so this class does not\nconstitute a schema migration (ADR-0015, CLAUDE.md \u00a71.6).\n\nSee :doc:`ADR-0015 </adr/0015-robocasa-isolated-backend-lazy-assets>`\nfor the full backend rationale.\n\nAttributes:\n    mode: ``\"prebuilt\"`` (default) or ``\"procedural\"``.\n    prebuilt_task: One of RoboCasa's ~100 atomic task names, e.g.\n        ``\"PnPCounterToCab\"``. Only valid when ``mode=\"prebuilt\"``.\n    kitchen_style: 0..9, picks one of RoboCasa's 10 kitchen aesthetic\n        packs. Only valid when ``mode=\"procedural\"``.\n    layout_id: 0..9, picks one of RoboCasa's 10 floor plans. Only\n        valid when ``mode=\"procedural\"``.\n    fixtures: Subset of RoboCasa fixture names to spawn. Empty list\n        keeps the layout's default fixtures.\n    spawn_objects: Subset of RoboCasa object asset names to spawn on\n        counters / inside cabinets.\n    task_verb: Coarse procedural-mode goal: pick-and-place, open,\n        close, press, navigate. Required when ``mode=\"procedural\"``.\n    robots: RoboCasa robot composition names, e.g.\n        ``[\"PandaMobile\"]`` (default) or ``[\"GR1\"]``. Must match\n        entries the upstream RoboCasa env factory accepts.\n    controller: RoboCasa controller name. ``\"OSC_POSE\"`` works for\n        arm-style robots; the adapter validates against the\n        controller config exposed by RoboCasa at import time.\n    horizon: Maximum step budget for the underlying RoboCasa env.\n\nExample:\n    >>> opts = RoboCasaBackendOptions(mode=\"prebuilt\", prebuilt_task=\"PnPCounterToCab\")\n    >>> opts.task_verb is None\n    True",
  "properties": {
    "mode": {
      "default": "prebuilt",
      "enum": [
        "prebuilt",
        "procedural"
      ],
      "title": "Mode",
      "type": "string"
    },
    "prebuilt_task": {
      "anyOf": [
        {
          "type": "string"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Prebuilt Task"
    },
    "kitchen_style": {
      "anyOf": [
        {
          "maximum": 9,
          "minimum": 0,
          "type": "integer"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Kitchen Style"
    },
    "layout_id": {
      "anyOf": [
        {
          "maximum": 9,
          "minimum": 0,
          "type": "integer"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Layout Id"
    },
    "fixtures": {
      "items": {
        "type": "string"
      },
      "title": "Fixtures",
      "type": "array"
    },
    "spawn_objects": {
      "items": {
        "type": "string"
      },
      "title": "Spawn Objects",
      "type": "array"
    },
    "task_verb": {
      "anyOf": [
        {
          "enum": [
            "pnp",
            "open",
            "close",
            "press",
            "navigate"
          ],
          "type": "string"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Task Verb"
    },
    "robots": {
      "items": {
        "type": "string"
      },
      "title": "Robots",
      "type": "array"
    },
    "controller": {
      "default": "OSC_POSE",
      "title": "Controller",
      "type": "string"
    },
    "horizon": {
      "default": 500,
      "exclusiveMinimum": 0,
      "title": "Horizon",
      "type": "integer"
    },
    "state_layout": {
      "default": "human300_16d",
      "enum": [
        "smolvla_9d",
        "human300_16d",
        "gr1"
      ],
      "title": "State Layout",
      "type": "string"
    },
    "obj_instance_split": {
      "anyOf": [
        {
          "type": "string"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Obj Instance Split"
    },
    "layout_and_style_ids": {
      "anyOf": [
        {
          "items": {
            "items": {
              "type": "integer"
            },
            "type": "array"
          },
          "type": "array"
        },
        {
          "type": "string"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Layout And Style Ids"
    },
    "layout_ids": {
      "anyOf": [
        {
          "items": {
            "type": "integer"
          },
          "type": "array"
        },
        {
          "type": "integer"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Layout Ids"
    },
    "style_ids": {
      "anyOf": [
        {
          "items": {
            "type": "integer"
          },
          "type": "array"
        },
        {
          "type": "integer"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Style Ids"
    },
    "obj_groups": {
      "anyOf": [
        {
          "type": "string"
        },
        {
          "type": "null"
        }
      ],
      "default": null,
      "title": "Obj Groups"
    },
    "ignore_done": {
      "default": false,
      "title": "Ignore Done",
      "type": "boolean"
    }
  },
  "title": "RoboCasaBackendOptions",
  "type": "object",
  "$schema": "https://json-schema.org/draft/2020-12/schema"
}