Hugging Face's logo

Datasets:
haosulab
/
ReplicaCAD

ArXiv:
License:
Dataset card Files Community
4
ReplicaCAD / rearrange /v1_extracted /train /set_table /episode_1004.json
arth-shukla's picture
arth-shukla
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
23.8 kB
{
"episode_id": "1004",
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_02.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_:0001": "bowl_target|0",
"013_apple_:0000": "fruit_target|1"
}
},
"ao_states": {},
"rigid_objs": [
[
"002_master_chef_can.object_config.json",
[
[
-0.97726,
-0.00015,
-0.21205,
-2.25606
],
[
0.00116,
0.99998,
-0.00608,
1.32042
],
[
0.21205,
-0.00619,
-0.97724,
-0.43426
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.97968,
-0.14733,
-0.13613,
3.97322
],
[
-0.15107,
0.98837,
0.01755,
0.52194
],
[
0.13196,
0.03776,
-0.99054,
3.97308
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.82825,
-0.0,
-0.56035,
0.80505
],
[
0.0,
1.0,
-0.0,
0.42987
],
[
0.56035,
0.0,
0.82825,
6.39298
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.9524,
7e-05,
-0.30485,
-2.07188
],
[
-7e-05,
1.0,
1e-05,
0.75829
],
[
0.30485,
1e-05,
0.9524,
1.96778
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.48456,
0.00078,
0.87476,
-1.94048
],
[
-0.00351,
0.99999,
-0.00284,
1.3009
],
[
-0.87475,
-0.00445,
-0.48456,
-0.44055
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.97176,
3e-05,
-0.23596,
1.47791
],
[
2e-05,
1.0,
7e-05,
0.4748
],
[
0.23596,
6e-05,
-0.97176,
3.89848
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.16859,
0.00018,
-0.98569,
-2.06081
],
[
0.00015,
1.0,
0.00021,
0.87655
],
[
0.98569,
-0.00019,
0.16859,
0.7194
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.90528,
0.04558,
-0.42236,
3.75206
],
[
0.03898,
0.99895,
0.02425,
0.50308
],
[
0.42302,
0.00549,
-0.9061,
3.82702
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.99715,
-0.0,
0.07541,
1.73173
],
[
-0.0,
1.0,
1e-05,
0.80465
],
[
-0.07541,
1e-05,
-0.99715,
7.33789
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.55697,
0.01866,
-0.83032,
2.56231
],
[
-0.04398,
0.99901,
-0.00705,
0.86943
],
[
0.82937,
0.04044,
0.55724,
7.30311
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.46862,
-0.02452,
0.88306,
3.84842
],
[
-0.00597,
0.99968,
0.02459,
0.43467
],
[
-0.88338,
0.00625,
-0.46861,
3.79087
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.03692,
-1e-05,
0.99932,
1.93804
],
[
8e-05,
1.0,
1e-05,
0.8138
],
[
-0.99932,
7e-05,
0.03692,
7.60758
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.52704,
-0.00224,
-0.84984,
1.62296
],
[
0.00075,
1.0,
-0.00217,
0.83338
],
[
0.84984,
0.0005,
0.52704,
7.15412
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.96463,
-7e-05,
-0.26361,
-1.97199
],
[
-7e-05,
1.0,
-2e-05,
0.91083
],
[
0.26361,
0.0,
-0.96463,
3.09588
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.12045,
2e-05,
-0.99272,
-2.00622
],
[
-1e-05,
1.0,
2e-05,
0.9303
],
[
0.99272,
1e-05,
0.12045,
1.45769
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.83407,
-0.01789,
0.55136,
3.87862
],
[
-0.00591,
0.99971,
0.02349,
0.43449
],
[
-0.55162,
0.01634,
-0.83394,
4.03623
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.88137,
-2e-05,
0.47243,
-1.90481
],
[
-8e-05,
1.0,
-0.00011,
0.90168
],
[
-0.47243,
-0.00013,
-0.88137,
0.53206
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.50017,
0.0002,
0.86593,
-2.25201
],
[
-0.00053,
1.0,
7e-05,
0.87476
],
[
-0.86593,
-0.0005,
0.50017,
0.8248
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.97106,
-0.04351,
0.23482,
-2.21919
],
[
0.0389,
0.99895,
0.0242,
0.9477
],
[
-0.23563,
-0.01437,
0.97174,
3.1261
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.95363,
-0.0127,
0.30072,
-2.00783
],
[
-0.00765,
0.99981,
0.01797,
1.27008
],
[
-0.30089,
0.01483,
-0.95354,
-0.31362
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.01697,
2e-05,
-0.99986,
-2.21026
],
[
2e-05,
1.0,
2e-05,
0.77776
],
[
0.99986,
-2e-05,
-0.01697,
1.88437
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.94822,
0.04472,
-0.31445,
-2.13922
],
[
0.03906,
0.99894,
0.02428,
0.79516
],
[
0.31521,
0.01074,
-0.94896,
1.971
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.95487,
7e-05,
0.29701,
4.12116
],
[
-0.00011,
1.0,
0.00011,
0.4424
],
[
-0.29701,
-0.00014,
0.95487,
3.83635
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.14552,
0.0,
0.98936,
3.98027
],
[
2e-05,
1.0,
-1e-05,
0.48552
],
[
-0.98936,
2e-05,
0.14552,
3.7512
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.46898,
0.0001,
-0.88321,
1.05461
],
[
0.00018,
1.0,
0.00021,
0.44619
],
[
0.88321,
-0.00026,
0.46898,
4.14741
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.39695,
0.00484,
-0.91783,
2.66151
],
[
0.0395,
0.99897,
0.02235,
0.85077
],
[
0.91699,
-0.04512,
0.39635,
7.61604
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.87387,
0.0061,
-0.48611,
1.6275
],
[
-0.00598,
0.99971,
0.02331,
0.42378
],
[
0.48611,
0.02328,
-0.87358,
4.04383
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.84426,
2e-05,
-0.53593,
-2.15819
],
[
-0.00038,
1.0,
-0.00055,
0.51511
],
[
0.53593,
0.00067,
0.84426,
0.91884
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"013_apple.object_config.json",
[
[
0.97703,
0.13179,
0.16747,
-2.10902
],
[
-0.16061,
0.97187,
0.17223,
1.28332
],
[
-0.14006,
-0.19517,
0.97072,
-0.33325
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"024_bowl_:0001": [
[
0.2487,
0.0,
0.96858,
1.568
],
[
0.0,
1.0,
0.0,
0.78957
],
[
-0.96858,
0.0,
0.2487,
7.34133
],
[
0.0,
0.0,
0.0,
1.0
]
],
"013_apple_:0000": [
[
-0.01404,
0.0,
-0.9999,
1.98332
],
[
0.0,
1.0,
0.0,
0.79801
],
[
0.9999,
0.0,
-0.01404,
7.90188
],
[
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
]
]
}