Hugging Face's logo

Datasets:
haosulab
/
ReplicaCAD

ArXiv:
License:
Dataset card Files Community
4
ReplicaCAD / rearrange /v1_extracted /train /set_table /episode_1012.json
arth-shukla's picture
arth-shukla
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
23.8 kB
{
"episode_id": "1012",
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_06.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",
[
[
0.89885,
0.04447,
0.43599,
-2.12614
],
[
-0.04506,
0.99894,
-0.00899,
0.81384
],
[
-0.43593,
-0.01157,
0.89991,
1.85181
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
-0.49352,
-6e-05,
-0.86974,
-1.07892
],
[
-2e-05,
1.0,
-6e-05,
0.77952
],
[
0.86974,
-1e-05,
-0.49352,
3.38434
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.91687,
0.04397,
0.39675,
2.30896
],
[
-0.04522,
0.99896,
-0.00621,
0.51087
],
[
-0.39661,
-0.01225,
0.9179,
2.63811
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
-0.82437,
-8e-05,
-0.56605,
-1.80928
],
[
-4e-05,
1.0,
-8e-05,
0.77951
],
[
0.56605,
-4e-05,
-0.82437,
3.92141
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.97185,
0.0087,
0.23545,
-1.70398
],
[
-0.00916,
0.99996,
0.00086,
0.46619
],
[
-0.23543,
-0.00299,
0.97189,
-1.93977
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.49447,
5e-05,
-0.8692,
-2.13105
],
[
-3e-05,
1.0,
4e-05,
0.88719
],
[
0.8692,
0.0,
0.49447,
0.2786
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.01169,
0.00028,
0.99993,
-0.93967
],
[
-0.00849,
0.99996,
-0.00018,
0.81386
],
[
-0.9999,
-0.00848,
0.01169,
3.67161
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.71348,
0.0027,
0.70067,
-1.67116
],
[
-0.00356,
0.99999,
-0.00024,
0.46596
],
[
-0.70066,
-0.00232,
0.71349,
-0.92867
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.86607,
0.0,
0.49993,
-1.8811
],
[
-1e-05,
1.0,
2e-05,
0.91083
],
[
-0.49993,
-2e-05,
0.86607,
2.59077
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.09878,
-0.01063,
-0.99505,
-1.85625
],
[
-0.04541,
0.99895,
-0.00617,
0.52148
],
[
0.99407,
0.04457,
-0.09916,
-1.05824
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.68624,
-0.00284,
0.72737,
1.20795
],
[
-0.00492,
0.99999,
-0.00074,
0.45534
],
[
-0.72736,
-0.00409,
-0.68625,
2.87735
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.98658,
0.04863,
-0.15587,
-2.20798
],
[
-0.0496,
0.99877,
-0.00232,
1.35772
],
[
0.15556,
0.01002,
0.98778,
-0.18112
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.36278,
0.00855,
-0.93183,
-1.88728
],
[
0.03881,
0.99895,
0.02428,
0.85066
],
[
0.93107,
-0.04497,
0.36207,
3.45982
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.99336,
0.0417,
-0.1072,
-2.04232
],
[
0.0393,
0.99893,
0.0244,
0.9477
],
[
0.1081,
0.02003,
-0.99394,
1.10659
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.09655,
-0.00222,
-0.99533,
-2.05972
],
[
-0.00229,
0.99999,
-0.00245,
0.45694
],
[
0.99533,
0.00252,
0.09655,
-1.87752
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.72798,
0.03026,
-0.68494,
4.22696
],
[
-0.0469,
0.99888,
-0.00572,
0.73341
],
[
0.684,
0.03629,
0.72858,
-0.56495
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.03238,
-0.00022,
-0.99948,
1.58582
],
[
0.00034,
1.0,
-0.00024,
0.45534
],
[
0.99948,
-0.00035,
-0.03238,
2.68481
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.28281,
-0.00094,
-0.95918,
-1.86806
],
[
-0.00025,
1.0,
-0.00091,
0.4568
],
[
0.95918,
-2e-05,
-0.28281,
-0.90867
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.98582,
6e-05,
0.16779,
-1.8753
],
[
-5e-05,
1.0,
-6e-05,
0.44235
],
[
-0.16779,
5e-05,
0.98582,
-2.05183
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.9207,
8e-05,
0.39027,
1.4633
],
[
8e-05,
1.0,
-2e-05,
0.45534
],
[
-0.39027,
1e-05,
-0.9207,
2.76904
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.58733,
-0.04743,
-0.80795,
-2.06221
],
[
0.11771,
0.99267,
0.0273,
0.79593
],
[
0.80074,
-0.11113,
0.58861,
2.07489
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.03627,
0.0,
-0.99934,
3.82613
],
[
-0.0,
1.0,
0.0,
0.6417
],
[
0.99934,
0.0,
-0.03627,
0.678
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.99645,
-0.01579,
-0.08266,
-1.9784
],
[
-0.01593,
0.99987,
0.00104,
0.46629
],
[
0.08264,
0.00235,
-0.99658,
-1.84333
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.83399,
-0.0,
-0.55178,
-2.15342
],
[
-0.0,
1.0,
-1e-05,
0.72401
],
[
0.55178,
1e-05,
0.83399,
2.08464
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.79686,
0.00906,
-0.6041,
-1.84564
],
[
-0.00518,
0.99975,
0.02182,
0.43447
],
[
0.60415,
0.02052,
-0.79661,
-1.7782
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.62521,
-0.00544,
-0.78044,
-2.21884
],
[
-0.00266,
0.99998,
-0.00484,
0.74919
],
[
0.78045,
-0.00095,
-0.62522,
1.99201
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.68102,
0.00088,
-0.73227,
-2.05313
],
[
-0.00099,
1.0,
0.00029,
0.44231
],
[
0.73227,
0.00052,
0.68102,
-1.10136
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.90622,
-4e-05,
-0.4228,
-2.32565
],
[
0.0001,
1.0,
0.00012,
0.51512
],
[
0.4228,
-0.00015,
0.90622,
0.60082
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"013_apple.object_config.json",
[
[
-0.88042,
-0.21756,
0.42134,
-2.0656
],
[
-0.16288,
0.97323,
0.16218,
1.28381
],
[
-0.44534,
0.07416,
-0.89228,
-0.24672
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"024_bowl_:0003": [
[
0.97447,
0.0,
0.22453,
-2.14862
],
[
0.0,
1.0,
0.0,
0.78957
],
[
-0.22453,
0.0,
0.97447,
3.3696
],
[
0.0,
0.0,
0.0,
1.0
]
],
"013_apple_:0000": [
[
0.82256,
0.0,
0.56868,
-2.30078
],
[
0.0,
1.0,
0.0,
0.79801
],
[
-0.56868,
0.0,
0.82256,
3.6653
],
[
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
]
]
}