Datasets:

ArXiv:
License:
arth-shukla's picture
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
23.7 kB
{
"episode_id": "1019",
"scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_18.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",
[
[
0.84556,
0.03469,
-0.53275,
-2.24211
],
[
-0.04561,
0.99893,
-0.00735,
0.96627
],
[
0.53193,
0.03051,
0.84624,
1.75731
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.28162,
0.02017,
0.95931,
1.98422
],
[
-0.04638,
0.9989,
-0.00738,
1.04092
],
[
-0.95841,
-0.04241,
0.28224,
6.12061
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.88679,
0.03724,
-0.46067,
-1.8813
],
[
-0.04576,
0.99893,
-0.00734,
0.96627
],
[
0.4599,
0.02759,
0.88754,
-0.18131
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.99922,
4e-05,
-0.0394,
0.59887
],
[
-4e-05,
1.0,
2e-05,
0.83327
],
[
0.0394,
-2e-05,
0.99922,
5.74563
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.11752,
-0.01948,
0.99288,
-2.15549
],
[
0.03899,
0.99895,
0.02421,
0.9477
],
[
-0.9923,
0.04156,
-0.11664,
2.22241
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.87341,
-0.04371,
-0.48502,
-2.20571
],
[
-0.04305,
0.99899,
-0.0125,
1.3562
],
[
0.48508,
0.00996,
-0.87441,
-1.2657
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.99563,
-1e-05,
0.09342,
3.57952
],
[
-0.0,
1.0,
4e-05,
0.4748
],
[
-0.09342,
4e-05,
-0.99563,
6.17848
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.16806,
0.00046,
0.98578,
3.52935
],
[
-0.00024,
1.0,
-0.00043,
0.44618
],
[
-0.98578,
-0.00016,
0.16806,
5.50512
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.62559,
0.03367,
0.77943,
0.14364
],
[
-0.04516,
0.99896,
-0.0069,
0.52163
],
[
-0.77885,
-0.03088,
0.62645,
0.55664
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.24015,
3e-05,
-0.97074,
-2.0511
],
[
-2e-05,
1.0,
3e-05,
0.87476
],
[
0.97074,
1e-05,
0.24015,
0.49669
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.55136,
3e-05,
-0.83427,
0.92764
],
[
0.00015,
1.0,
-7e-05,
0.8138
],
[
0.83427,
-0.00017,
-0.55136,
6.72736
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.85984,
-0.0,
0.51057,
2.13416
],
[
0.0,
1.0,
0.0,
0.95101
],
[
-0.51057,
0.0,
0.85984,
6.41149
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.47257,
0.00024,
0.88129,
-2.15516
],
[
-0.0002,
1.0,
-0.00038,
0.74914
],
[
-0.88129,
-0.00036,
-0.47257,
1.12037
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.99003,
-0.0008,
-0.14085,
-0.00911
],
[
0.00058,
1.0,
-0.00163,
0.4661
],
[
0.14085,
0.00153,
0.99003,
0.19268
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.23123,
4e-05,
0.9729,
0.16513
],
[
0.0,
1.0,
-5e-05,
0.48552
],
[
-0.9729,
1e-05,
0.23123,
0.45063
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.64921,
-0.30082,
-0.69859,
-2.18908
],
[
-0.17963,
0.83185,
-0.52513,
0.75188
],
[
0.7391,
0.4664,
0.48601,
1.29544
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.96869,
0.04611,
0.24396,
-2.06393
],
[
-0.0457,
0.99893,
-0.00734,
0.81373
],
[
-0.24404,
-0.00403,
0.96976,
1.28946
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.54645,
0.01364,
-0.83738,
0.50332
],
[
-0.00484,
0.9998,
0.01944,
0.78225
],
[
0.83748,
0.01468,
-0.54628,
5.94166
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.79019,
4e-05,
-0.61286,
-1.91342
],
[
-1e-05,
1.0,
5e-05,
0.88719
],
[
0.61286,
-3e-05,
0.79019,
0.7495
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.94492,
-0.00102,
-0.3273,
4.05443
],
[
-0.00101,
1.0,
-0.00022,
0.67729
],
[
0.3273,
0.00012,
-0.94492,
0.08898
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.81938,
-0.00234,
-0.57324,
0.80714
],
[
-0.0021,
1.0,
-0.00108,
0.43455
],
[
0.57324,
0.00032,
-0.81939,
0.08812
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.47832,
-0.00092,
0.87819,
4.11345
],
[
0.00021,
1.0,
0.00094,
0.64349
],
[
-0.87819,
-0.00026,
0.47832,
-0.16648
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.76092,
0.00129,
0.64884,
1.87804
],
[
-0.00216,
0.99999,
-0.00453,
0.97612
],
[
-0.64884,
-0.00485,
-0.76091,
5.81052
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.02181,
0.00066,
0.99976,
0.24141
],
[
-0.00066,
1.0,
-0.00065,
0.4569
],
[
-0.99976,
-0.00064,
0.02181,
0.35632
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.39591,
0.0,
0.91829,
0.91622
],
[
-0.0,
1.0,
-0.0,
0.43165
],
[
-0.91829,
-0.0,
0.39591,
-0.22845
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.32493,
0.02035,
-0.94552,
0.11512
],
[
-0.00499,
0.99979,
0.0198,
0.4345
],
[
0.94572,
-0.00172,
0.32497,
0.31852
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.15326,
0.0,
0.98819,
0.65801
],
[
0.0,
1.0,
-0.0,
0.77773
],
[
-0.98819,
0.0,
0.15326,
5.42636
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.47196,
1e-05,
-0.88162,
-2.28513
],
[
0.00018,
1.0,
-9e-05,
0.51512
],
[
0.88162,
-0.0002,
-0.47196,
-0.36672
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"013_apple.object_config.json",
[
[
0.12416,
0.18725,
-0.97443,
-2.06162
],
[
-0.15378,
0.9738,
0.16753,
1.284
],
[
0.98027,
0.12905,
0.1497,
-1.01642
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"024_bowl_:0002": [
[
0.25416,
0.0,
-0.96716,
0.66556
],
[
0.0,
1.0,
0.0,
0.78958
],
[
0.96716,
0.0,
0.25416,
5.962
],
[
0.0,
0.0,
0.0,
1.0
]
],
"013_apple_:0000": [
[
-0.79655,
0.0,
-0.60458,
0.99795
],
[
0.0,
1.0,
0.0,
0.79801
],
[
0.60458,
0.0,
-0.79655,
5.54074
],
[
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
]
]
}