Datasets:

ArXiv:
License:
arth-shukla's picture
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
23.7 kB
{
"episode_id": "1037",
"scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_13.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": [
[
"005_tomato_soup_can.object_config.json",
[
[
0.57315,
0.00073,
-0.81945,
-2.07769
],
[
-0.00125,
1.0,
2e-05,
0.7583
],
[
0.81945,
0.00101,
0.57315,
1.2216
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.84827,
0.0,
-0.52957,
-2.37916
],
[
1e-05,
1.0,
1e-05,
0.9303
],
[
0.52957,
-2e-05,
0.84827,
0.36342
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.10505,
-0.01211,
-0.99439,
-2.03383
],
[
-0.04562,
0.99893,
-0.00734,
0.96627
],
[
0.99342,
0.0446,
-0.10549,
-0.00741
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.98766,
-0.0,
-0.15659,
3.67338
],
[
-0.0,
1.0,
-3e-05,
1.00477
],
[
0.15659,
3e-05,
0.98766,
5.77975
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.31061,
2e-05,
-0.95054,
1.03453
],
[
2e-05,
1.0,
1e-05,
0.4748
],
[
0.95054,
-1e-05,
-0.31061,
0.23972
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.3701,
-0.00295,
-0.92899,
1.18752
],
[
-0.01187,
0.99993,
0.00155,
0.45514
],
[
0.92892,
0.0116,
-0.37011,
0.00716
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.96717,
0.00039,
-0.25415,
-2.18829
],
[
0.0004,
1.0,
1e-05,
0.80465
],
[
0.25415,
-9e-05,
-0.96717,
3.18508
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.82116,
-0.0,
0.57069,
2.23861
],
[
0.0,
1.0,
0.0,
0.43176
],
[
-0.57069,
-0.0,
0.82116,
5.52472
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.38404,
-0.0,
0.92332,
-2.05631
],
[
-0.0,
1.0,
0.0,
0.77773
],
[
-0.92332,
0.0,
-0.38404,
2.62378
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.32368,
4e-05,
-0.94617,
-1.93546
],
[
-0.00014,
1.0,
9e-05,
0.9303
],
[
0.94617,
0.00017,
-0.32368,
2.21232
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.1633,
0.02201,
-0.98633,
-2.2226
],
[
-0.00542,
0.99976,
0.02142,
0.78225
],
[
0.98656,
0.00185,
0.16338,
2.92086
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.04717,
1e-05,
0.99889,
0.81646
],
[
1e-05,
1.0,
-1e-05,
0.6417
],
[
-0.99889,
2e-05,
0.04717,
7.12837
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.58725,
0.07599,
0.80583,
-2.22543
],
[
-0.15039,
0.98849,
0.01638,
0.86957
],
[
-0.79531,
-0.13081,
0.59192,
2.66173
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.87163,
-2e-05,
0.49017,
0.62044
],
[
2e-05,
1.0,
0.0,
0.69724
],
[
-0.49017,
1e-05,
0.87163,
7.20502
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.86348,
-0.00217,
-0.50438,
-2.34097
],
[
-0.00256,
0.99996,
-0.00868,
1.27645
],
[
0.50438,
0.00879,
0.86344,
-1.28381
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.86651,
-6e-05,
0.49916,
-2.40424
],
[
1e-05,
1.0,
0.0001,
0.90168
],
[
-0.49916,
-9e-05,
0.86651,
1.78158
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.90868,
0.0,
0.41749,
-2.32334
],
[
-0.0,
1.0,
0.0,
0.87476
],
[
-0.41749,
-0.0,
0.90868,
2.17414
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.06124,
-0.02661,
0.99777,
2.44954
],
[
0.03905,
0.99894,
0.02424,
0.50281
],
[
-0.99736,
0.03748,
0.06222,
6.671
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.94994,
-0.00516,
-0.3124,
0.41477
],
[
-0.00353,
0.99998,
-0.0058,
0.66869
],
[
0.31242,
-0.00441,
-0.94993,
7.36724
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
-0.33495,
5e-05,
-0.94224,
-2.2001
],
[
4e-05,
1.0,
4e-05,
0.9303
],
[
0.94224,
-3e-05,
-0.33495,
-0.41766
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.66323,
-0.00168,
-0.74842,
-2.03381
],
[
0.00569,
0.99998,
0.00279,
1.32185
],
[
0.7484,
-0.00611,
0.66322,
-0.98063
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.9199,
-0.00011,
0.39215,
0.5437
],
[
-0.00014,
1.0,
-5e-05,
0.45534
],
[
-0.39215,
-0.0001,
-0.9199,
0.33907
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.67591,
0.00024,
-0.73698,
-2.22949
],
[
0.0,
1.0,
0.00032,
0.72401
],
[
0.73698,
-0.00022,
0.67591,
1.28909
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
0.99759,
0.04473,
-0.05312,
-2.07822
],
[
-0.04515,
0.99896,
-0.0068,
0.9663
],
[
0.05277,
0.00918,
0.99856,
0.48751
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.33136,
-0.00032,
-0.9435,
2.25454
],
[
-0.00012,
1.0,
-0.0003,
0.4569
],
[
0.9435,
1e-05,
-0.33136,
5.72378
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.71091,
0.00185,
0.70328,
-1.68547
],
[
-0.00142,
1.0,
-0.0012,
0.83308
],
[
-0.70328,
-0.00015,
0.71091,
2.60132
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.9847,
-2e-05,
-0.17428,
-2.19439
],
[
5e-05,
1.0,
0.00013,
0.74914
],
[
0.17428,
-0.00014,
0.9847,
1.12236
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.00017,
-0.00105,
1.0,
-2.11216
],
[
-0.00015,
1.0,
0.00105,
0.51509
],
[
-1.0,
-0.00015,
-0.00017,
-0.37504
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"013_apple.object_config.json",
[
[
0.01304,
0.17086,
-0.98521,
-2.1215
],
[
-0.15399,
0.97388,
0.16685,
1.28334
],
[
0.98799,
0.14954,
0.03901,
-1.13006
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"024_bowl_:0001": [
[
0.64722,
0.0,
0.7623,
-1.57546
],
[
0.0,
1.0,
0.0,
0.78958
],
[
-0.7623,
0.0,
0.64722,
3.74207
],
[
0.0,
0.0,
0.0,
1.0
]
],
"013_apple_:0000": [
[
-0.71467,
0.0,
-0.69946,
-1.89989
],
[
0.0,
1.0,
0.0,
0.79802
],
[
0.69946,
0.0,
-0.71467,
3.90141
],
[
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
]
]
}