Hugging Face's logo

Datasets:
haosulab
/
ReplicaCAD

ArXiv:
License:
Dataset card Files Community
4
ReplicaCAD / rearrange /v1_extracted /train /set_table /episode_1.json
arth-shukla's picture
arth-shukla
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
23.7 kB
{
"episode_id": "1",
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_20.scene_instance.json",
"scene_dataset_config": "data/replica_cad/replicaCAD.scene_dataset_config.json",
"additional_obj_config_paths": [
"data/objects/ycb/"
],
"start_position": [
0,
0,
0
],
"start_rotation": [
0,
0,
0,
1
],
"info": {
"object_labels": {
"024_bowl_:0003": "bowl_target|0",
"013_apple_:0000": "fruit_target|1"
}
},
"ao_states": {},
"rigid_objs": [
[
"003_cracker_box.object_config.json",
[
[
-0.68393,
-0.0265,
0.72907,
0.76643
],
[
-0.04543,
0.99895,
-0.0063,
1.04081
],
[
-0.72814,
-0.03743,
-0.68441,
4.98054
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.89832,
0.04683,
-0.43685,
3.63971
],
[
0.0229,
0.99794,
0.0599,
0.50416
],
[
0.43875,
0.04381,
-0.89754,
2.65071
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.01701,
0.00012,
0.99986,
3.71398
],
[
-8e-05,
1.0,
-0.00012,
0.45534
],
[
-0.99986,
-9e-05,
-0.01701,
1.22016
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.32339,
0.00987,
-0.94621,
3.43905
],
[
-0.04742,
0.99886,
-0.00579,
0.52147
],
[
0.94508,
0.04674,
0.32349,
3.01383
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.99557,
-2e-05,
-0.09397,
3.49699
],
[
-3e-05,
1.0,
4e-05,
0.42987
],
[
0.09397,
4e-05,
-0.99557,
2.68664
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.9738,
0.0,
-0.22743,
2.41234
],
[
0.0,
1.0,
2e-05,
0.44618
],
[
0.22743,
-3e-05,
0.9738,
1.36494
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.56879,
0.0,
0.82248,
-2.27067
],
[
-0.0,
1.0,
0.0,
0.87476
],
[
-0.82248,
-0.0,
0.56879,
1.3187
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.84224,
-0.0,
0.5391,
3.54934
],
[
0.0,
1.0,
0.0,
0.41926
],
[
-0.5391,
-0.0,
0.84224,
1.41915
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.90446,
-2e-05,
0.42655,
3.92947
],
[
-7e-05,
1.0,
-0.0001,
0.78985
],
[
-0.42655,
-0.00012,
-0.90446,
5.32641
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.70191,
3e-05,
-0.71227,
-2.05269
],
[
-6e-05,
1.0,
-1e-05,
0.72401
],
[
0.71227,
5e-05,
0.70191,
2.06689
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.67554,
0.0,
0.73732,
-2.07599
],
[
-0.00428,
0.99998,
0.00392,
1.26538
],
[
-0.73731,
-0.00581,
0.67553,
-0.34597
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.48393,
0.00247,
-0.8751,
3.53668
],
[
0.04117,
0.99882,
0.02559,
0.50298
],
[
0.87414,
-0.04842,
0.48326,
2.7973
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.36499,
0.0,
-0.93101,
3.30906
],
[
-0.0,
1.0,
0.0,
0.42105
],
[
0.93101,
-0.0,
0.36499,
1.39968
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.99981,
0.00015,
0.0197,
2.14055
],
[
-0.00014,
1.0,
-7e-05,
0.48552
],
[
-0.0197,
7e-05,
0.99981,
2.32253
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.93801,
-0.00027,
0.3466,
3.3912
],
[
0.00029,
1.0,
2e-05,
0.43131
],
[
-0.3466,
8e-05,
0.93801,
1.26805
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.30192,
-0.0,
-0.95333,
-2.19245
],
[
2e-05,
1.0,
-1e-05,
0.72222
],
[
0.95333,
-2e-05,
-0.30192,
1.93242
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.99258,
0.11483,
0.03997,
3.30913
],
[
-0.11372,
0.99309,
-0.02906,
0.46744
],
[
-0.04303,
0.0243,
0.99878,
2.6441
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.30446,
0.00021,
-0.95253,
-2.20143
],
[
0.00012,
1.0,
0.00018,
0.90168
],
[
0.95253,
-6e-05,
-0.30446,
0.30408
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.99117,
0.04559,
0.12452,
2.53271
],
[
-0.04516,
0.99896,
-0.00623,
0.51087
],
[
-0.12467,
0.00056,
0.9922,
1.44169
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.8965,
6e-05,
-0.44304,
3.58662
],
[
7e-05,
1.0,
-1e-05,
0.77773
],
[
0.44304,
-4e-05,
-0.8965,
5.15662
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.97991,
0.01777,
0.19865,
-2.05504
],
[
-0.01757,
0.99984,
-0.00276,
0.81436
],
[
-0.19867,
-0.00078,
0.98007,
1.93455
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.56513,
-0.00145,
-0.825,
3.53937
],
[
0.03767,
0.999,
0.02404,
0.49237
],
[
0.82414,
-0.04467,
0.56462,
1.56167
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.00899,
0.00079,
0.99996,
-2.17921
],
[
-0.00501,
0.99999,
-0.00083,
1.27875
],
[
-0.99995,
-0.00502,
-0.00899,
-0.14268
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.76703,
0.00186,
0.64161,
2.60988
],
[
-0.00261,
1.0,
0.00022,
0.45534
],
[
-0.64161,
-0.00184,
0.76703,
1.39809
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.96923,
0.01134,
-0.24589,
-2.16303
],
[
-0.00581,
0.99971,
0.02322,
0.72673
],
[
0.24609,
-0.02107,
0.96902,
2.06976
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.99759,
6e-05,
0.06934,
4.27144
],
[
0.00024,
1.0,
0.00257,
0.81389
],
[
-0.06934,
0.00258,
-0.99759,
5.35563
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.21757,
1e-05,
-0.97604,
4.2073
],
[
0.0,
1.0,
1e-05,
0.77952
],
[
0.97604,
-0.0,
0.21757,
5.54955
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.89382,
0.00012,
-0.44843,
-2.33903
],
[
-0.00018,
1.0,
-9e-05,
0.51512
],
[
0.44843,
0.00017,
0.89382,
0.54844
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"013_apple.object_config.json",
[
[
-0.50532,
-0.22568,
0.8329,
-2.15288
],
[
-0.16481,
0.97267,
0.16356,
1.28374
],
[
-0.84705,
-0.05462,
-0.5287,
-0.26093
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"024_bowl_:0003": [
[
-0.54074,
0.0,
0.84119,
3.91955
],
[
0.0,
1.0,
0.0,
0.78957
],
[
-0.84119,
0.0,
-0.54074,
4.37439
],
[
0.0,
0.0,
0.0,
1.0
]
],
"013_apple_:0000": [
[
0.95004,
0.0,
-0.31213,
3.68672
],
[
0.0,
1.0,
0.0,
0.79801
],
[
0.31213,
0.0,
0.95004,
4.71609
],
[
0.0,
0.0,
0.0,
1.0
]
]
},
"markers": [
{
"name": "cab_push_point_7",
"type": "articulated_object",
"params": {
"offset": [
0.3,
0.0,
0
],
"link": "drawer1_top",
"object": "kitchen_counter_:0000"
}
},
{
"name": "cab_push_point_6",
"type": "articulated_object",
"params": {
"offset": [
0.3,
0.0,
0
],
"link": "drawer2_top",
"object": "kitchen_counter_:0000"
}
},
{
"name": "cab_push_point_5",
"type": "articulated_object",
"params": {
"offset": [
0.3,
0.0,
0
],
"link": "drawer3",
"object": "kitchen_counter_:0000"
}
},
{
"name": "cab_push_point_4",
"type": "articulated_object",
"params": {
"offset": [
0.3,
0.0,
0
],
"link": "drawer4",
"object": "kitchen_counter_:0000"
}
},
{
"name": "fridge_push_point",
"type": "articulated_object",
"params": {
"offset": [
0.1,
-0.62,
0.2
],
"link": "top_door",
"object": "fridge_:0000"
}
}
],
"target_receptacles": [
[
"kitchen_counter_:0000",
7
],
[
"fridge_:0000",
0
]
],
"goal_receptacles": [
[
"frl_apartment_table_01_:0000",
null
],
[
"frl_apartment_table_01_:0000",
null
]
]
}