Datasets:

ArXiv:
License:
arth-shukla's picture
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
23.7 kB
{
"episode_id": "1022",
"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_:0003": "bowl_target|0",
"013_apple_:0000": "fruit_target|1"
}
},
"ao_states": {},
"rigid_objs": [
[
"005_tomato_soup_can.object_config.json",
[
[
0.55269,
5e-05,
0.83339,
0.97518
],
[
2e-05,
1.0,
-8e-05,
0.46605
],
[
-0.83339,
6e-05,
0.55269,
-0.18666
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.95778,
0.04164,
-0.28446,
0.45258
],
[
-0.04561,
0.99893,
-0.00734,
0.96627
],
[
0.28385,
0.02001,
0.95866,
7.44864
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
-0.38071,
-1e-05,
0.92469,
0.89486
],
[
-1e-05,
1.0,
1e-05,
0.43176
],
[
-0.92469,
-0.0,
-0.38071,
-0.15152
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.99839,
-0.00617,
0.05644,
0.78744
],
[
-0.00485,
0.99971,
0.02354,
0.43465
],
[
-0.05657,
0.02323,
-0.99813,
-0.30748
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.14242,
2e-05,
0.98981,
0.73387
],
[
2e-05,
1.0,
-2e-05,
0.91083
],
[
-0.98981,
3e-05,
0.14242,
7.07762
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.96016,
-0.04379,
0.27599,
0.53466
],
[
0.03696,
0.99887,
0.0299,
1.33799
],
[
-0.27699,
-0.0185,
0.9607,
4.29555
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.85766,
0.0,
-0.51421,
4.11283
],
[
0.0,
1.0,
0.0,
0.6417
],
[
0.51421,
0.0,
-0.85766,
5.40459
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
-0.91921,
-0.00038,
-0.39377,
0.75737
],
[
0.00223,
0.99998,
-0.00617,
1.26801
],
[
0.39376,
-0.00655,
-0.91919,
4.50087
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.83119,
-5e-05,
0.55599,
3.86674
],
[
-7e-05,
1.0,
-3e-05,
0.9853
],
[
-0.55599,
-7e-05,
-0.83119,
3.28088
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.98783,
-3e-05,
-0.15553,
0.28994
],
[
-3e-05,
1.0,
1e-05,
0.9303
],
[
0.15553,
1e-05,
-0.98783,
5.31761
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.64582,
0.0006,
-0.76349,
3.59907
],
[
0.00022,
1.0,
0.00097,
0.97616
],
[
0.76349,
-0.0008,
0.64582,
3.57653
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.76589,
0.03431,
-0.64205,
1.00642
],
[
-0.04928,
0.99877,
-0.00542,
0.52162
],
[
0.64108,
0.0358,
0.76664,
0.01724
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.63632,
-2e-05,
0.77142,
4.06978
],
[
1e-05,
1.0,
2e-05,
0.66862
],
[
-0.77142,
-0.0,
0.63632,
5.31909
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.00702,
0.00015,
-0.99998,
-0.44224
],
[
0.0001,
1.0,
0.00015,
0.79008
],
[
0.99998,
-0.0001,
-0.00702,
1.66984
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.35578,
-0.00012,
0.93457,
0.67187
],
[
0.00021,
1.0,
5e-05,
0.87655
],
[
-0.93457,
0.00018,
0.35578,
5.71199
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.72038,
1e-05,
-0.69358,
0.50084
],
[
-2e-05,
1.0,
3e-05,
0.87476
],
[
0.69358,
3e-05,
-0.72038,
7.81099
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.51196,
-3e-05,
-0.85901,
3.62499
],
[
-0.00011,
1.0,
3e-05,
0.9853
],
[
0.85901,
0.00011,
-0.51196,
3.29729
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.90969,
-0.01578,
0.41498,
3.15265
],
[
-0.00723,
0.99973,
0.02218,
0.42385
],
[
-0.41522,
0.01718,
-0.90956,
1.53758
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.2325,
-0.0,
0.9726,
0.59673
],
[
-2e-05,
1.0,
1e-05,
0.77776
],
[
-0.9726,
-2e-05,
0.2325,
6.55163
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.1097,
0.00125,
-0.99396,
-1.27677
],
[
-0.00091,
1.0,
0.00135,
0.44224
],
[
0.99396,
0.00105,
-0.1097,
3.25023
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.9703,
0.03945,
-0.23866,
0.49616
],
[
0.02918,
0.9985,
0.04638,
0.79601
],
[
0.24013,
0.03804,
-0.97,
6.54785
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.71257,
0.00104,
0.7016,
3.17402
],
[
-0.00032,
1.0,
-0.00116,
0.43167
],
[
-0.7016,
0.0006,
0.71257,
1.69585
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.35116,
2e-05,
0.93632,
3.28761
],
[
-5e-05,
1.0,
-4e-05,
0.44618
],
[
-0.93632,
-6e-05,
-0.35116,
0.45662
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.89224,
0.00036,
0.45156,
0.51581
],
[
-0.00172,
0.99999,
-0.0042,
1.32122
],
[
-0.45155,
-0.00453,
-0.89223,
4.40684
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.9986,
0.00211,
0.05276,
-1.40357
],
[
-0.00211,
1.0,
-0.00016,
0.46595
],
[
-0.05276,
5e-05,
0.99861,
2.9903
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.7406,
0.02017,
-0.67164,
0.56276
],
[
-0.00591,
0.99971,
0.0235,
0.87927
],
[
0.67192,
-0.01343,
0.7405,
5.67783
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.28566,
-0.03355,
0.95774,
4.0068
],
[
0.03901,
0.99897,
0.02336,
0.71482
],
[
-0.95754,
0.03069,
0.28667,
5.84959
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.37279,
0.00014,
-0.92792,
0.48785
],
[
0.00114,
1.0,
-0.0003,
0.51509
],
[
0.92792,
-0.00117,
-0.37279,
5.16284
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"013_apple.object_config.json",
[
[
-0.74664,
-0.00868,
-0.66517,
0.47478
],
[
-0.15604,
0.9743,
0.16243,
1.28418
],
[
0.64667,
0.22507,
-0.72881,
4.51431
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"024_bowl_:0003": [
[
0.19015,
0.0,
0.98176,
-0.01615
],
[
0.0,
1.0,
0.0,
0.78957
],
[
-0.98176,
0.0,
0.19015,
2.17901
],
[
0.0,
0.0,
0.0,
1.0
]
],
"013_apple_:0000": [
[
0.69587,
0.0,
0.71817,
0.3429
],
[
0.0,
1.0,
0.0,
0.79801
],
[
-0.71817,
0.0,
0.69587,
1.59392
],
[
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
]
]
}