Hugging Face's logo

Datasets:
haosulab
/
ReplicaCAD

ArXiv:
License:
Dataset card Files Community
4
ReplicaCAD / rearrange /v1_extracted /train /set_table /episode_1016.json
arth-shukla's picture
arth-shukla
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
23.8 kB
{
"episode_id": "1016",
"scene_id": "data/replica_cad/configs/scenes/v3_sc0_staging_14.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_:0002": "bowl_target|0",
"013_apple_:0000": "fruit_target|1"
}
},
"ao_states": {},
"rigid_objs": [
[
"003_cracker_box.object_config.json",
[
[
-0.67124,
-0.02461,
0.74083,
-1.42606
],
[
-0.04507,
0.99895,
-0.00765,
0.52155
],
[
-0.73987,
-0.03852,
-0.67165,
3.22497
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.74356,
0.00143,
0.66866,
0.57092
],
[
0.00248,
1.0,
0.00062,
0.72227
],
[
-0.66866,
0.00212,
-0.74356,
6.69129
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.94093,
9e-05,
0.33861,
0.78245
],
[
-0.00011,
1.0,
2e-05,
0.88719
],
[
-0.33861,
-5e-05,
0.94093,
7.11504
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.97573,
3e-05,
0.219,
-1.53356
],
[
1e-05,
1.0,
-0.00016,
0.45679
],
[
-0.219,
0.00016,
0.97573,
3.1821
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.99374,
-0.04623,
-0.10174,
0.54205
],
[
-0.04513,
0.9989,
-0.01309,
1.35865
],
[
0.10224,
-0.00842,
-0.99472,
4.65817
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
-0.69367,
-0.00059,
0.72029,
3.68533
],
[
-0.0001,
1.0,
0.00073,
0.95095
],
[
-0.72029,
0.00044,
-0.69367,
4.11492
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.98589,
-0.00975,
0.16711,
0.40897
],
[
-0.0059,
0.99971,
0.0235,
0.87927
],
[
-0.16729,
0.02218,
-0.98566,
7.13123
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.33491,
0.0023,
0.94225,
0.78809
],
[
-0.00602,
0.99998,
-0.0003,
0.46609
],
[
-0.94223,
-0.00557,
0.33492,
-0.21825
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.74405,
4e-05,
0.66812,
0.55964
],
[
8e-05,
1.0,
3e-05,
0.91083
],
[
-0.66812,
7e-05,
-0.74405,
5.34839
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.98327,
0.0001,
-0.18215,
0.6355
],
[
1e-05,
1.0,
0.00051,
0.77777
],
[
0.18215,
0.0005,
-0.98327,
6.8174
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.6023,
-0.02231,
0.79796,
3.42188
],
[
-0.0059,
0.99971,
0.02349,
0.95374
],
[
-0.79825,
0.00944,
-0.60225,
3.37413
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.85422,
0.04648,
0.51782,
0.64537
],
[
-0.05385,
0.99855,
-0.0008,
1.35815
],
[
-0.51711,
-0.0272,
0.85549,
4.57584
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.9982,
-0.00322,
0.05982,
3.71834
],
[
0.00321,
0.99999,
0.00019,
0.64177
],
[
-0.05982,
0.0,
0.99821,
5.751
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.72797,
0.01029,
-0.68554,
0.91514
],
[
-0.00273,
0.99984,
0.01791,
0.43462
],
[
0.68561,
0.01491,
-0.72782,
-0.0679
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.85088,
1e-05,
0.52536,
0.73427
],
[
0.0,
1.0,
-2e-05,
0.87476
],
[
-0.52536,
2e-05,
0.85088,
7.3578
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.01057,
0.0,
-0.99994,
3.16313
],
[
-0.0,
1.0,
0.0,
0.41926
],
[
0.99994,
-0.0,
0.01057,
1.10074
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.63185,
0.00542,
0.77507,
0.51365
],
[
-0.00274,
0.99998,
-0.00475,
0.77804
],
[
-0.77508,
0.00088,
0.63186,
6.78432
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.72275,
-2e-05,
0.69111,
3.48242
],
[
1e-05,
1.0,
2e-05,
0.42105
],
[
-0.69111,
-1e-05,
0.72275,
0.40145
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.98917,
0.00024,
-0.14676,
3.24301
],
[
0.00034,
1.0,
-0.00068,
0.43169
],
[
0.14676,
-0.00072,
-0.98917,
0.70606
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.87019,
0.00057,
0.49271,
0.63923
],
[
0.00073,
1.0,
0.00012,
0.96725
],
[
-0.49271,
0.00046,
-0.87019,
7.02348
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.56528,
0.00047,
-0.8249,
0.65477
],
[
-0.00011,
1.0,
0.00064,
0.75831
],
[
0.8249,
0.00045,
-0.56528,
6.63427
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.47073,
0.00011,
-0.88228,
0.46371
],
[
0.00073,
1.0,
-0.00026,
0.91084
],
[
0.88228,
-0.00076,
-0.47073,
5.82931
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.99873,
0.0487,
0.01295,
3.87109
],
[
-0.04862,
0.9988,
-0.00626,
0.73324
],
[
-0.01324,
0.00563,
0.9999,
5.97746
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.03096,
-1e-05,
-0.99952,
3.35487
],
[
-3e-05,
1.0,
-1e-05,
0.4748
],
[
0.99952,
3e-05,
-0.03096,
1.32098
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.21699,
-0.0001,
-0.97617,
0.26377
],
[
0.00023,
1.0,
-5e-05,
0.8138
],
[
0.97617,
-0.00021,
0.21699,
1.46802
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.87147,
-0.00037,
0.49046,
0.39102
],
[
-0.00221,
0.99999,
0.00468,
1.30273
],
[
-0.49045,
-0.00516,
0.87145,
4.57257
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.90053,
0.01555,
-0.43451,
1.08676
],
[
-0.00592,
0.99971,
0.02351,
0.43449
],
[
0.43475,
-0.0186,
0.90036,
-0.0054
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.96848,
0.00158,
-0.24907,
0.60551
],
[
-0.00028,
0.99997,
0.00741,
0.51538
],
[
0.24907,
0.00725,
-0.96846,
5.03515
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"013_apple.object_config.json",
[
[
0.56127,
-0.04914,
0.82617,
0.61122
],
[
-0.16473,
0.97163,
0.16971,
1.2838
],
[
-0.81108,
-0.23135,
0.53725,
4.44883
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"024_bowl_:0002": [
[
-0.99997,
0.0,
0.0076,
-0.40035
],
[
0.0,
1.0,
0.0,
0.78957
],
[
-0.0076,
0.0,
-0.99997,
1.42614
],
[
0.0,
0.0,
0.0,
1.0
]
],
"013_apple_:0000": [
[
-0.35712,
0.0,
0.93406,
-0.41228
],
[
0.0,
1.0,
0.0,
0.79801
],
[
-0.93406,
0.0,
-0.35712,
1.47632
],
[
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
]
]
}