Datasets:

ArXiv:
License:
arth-shukla's picture
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
23.8 kB
{
"episode_id": "1040",
"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_:0001": "bowl_target|0",
"013_apple_:0000": "fruit_target|1"
}
},
"ao_states": {},
"rigid_objs": [
[
"003_cracker_box.object_config.json",
[
[
-0.7203,
-0.02783,
0.6931,
0.37241
],
[
-0.04566,
0.99893,
-0.00735,
0.96627
],
[
-0.69216,
-0.03694,
-0.7208,
7.74556
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.57365,
4e-05,
-0.8191,
3.66037
],
[
1e-05,
1.0,
6e-05,
0.69724
],
[
0.8191,
-4e-05,
0.57365,
6.20298
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.03438,
0.00074,
-0.99941,
0.5105
],
[
-0.00071,
1.0,
0.00077,
0.79015
],
[
0.99941,
0.00074,
-0.03438,
2.15294
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.94867,
-0.00022,
0.31628,
0.44133
],
[
-0.00155,
0.99998,
0.00534,
1.26897
],
[
-0.31628,
-0.00556,
0.94865,
4.66445
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.48948,
-0.00201,
0.87201,
0.597
],
[
0.03917,
0.99894,
0.02429,
0.79516
],
[
-0.87113,
0.04604,
-0.48889,
6.83322
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.82379,
-0.0,
0.56689,
4.08124
],
[
-0.0,
1.0,
-0.0,
0.94924
],
[
-0.56689,
-0.0,
-0.82379,
4.09932
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.6646,
0.04424,
-0.74589,
3.95878
],
[
0.00834,
0.99774,
0.06661,
0.41305
],
[
0.74715,
-0.05049,
0.66274,
5.22677
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.9849,
0.00988,
-0.17283,
0.63178
],
[
-0.00591,
0.99971,
0.02349,
0.87927
],
[
0.17301,
-0.02212,
0.98467,
7.56088
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
-0.72818,
-3e-05,
-0.68539,
-0.44569
],
[
0.0,
1.0,
-5e-05,
0.77951
],
[
0.68539,
-3e-05,
-0.72818,
1.64503
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.91191,
0.00301,
0.41037,
3.55885
],
[
-0.00338,
0.99999,
0.00018,
0.9853
],
[
-0.41037,
-0.00155,
0.91192,
2.99916
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.55751,
0.01414,
-0.83005,
3.12372
],
[
-0.00516,
0.99978,
0.0205,
0.42378
],
[
0.83016,
0.01572,
-0.55731,
0.68615
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.41291,
0.04415,
-0.9097,
3.23601
],
[
0.04842,
0.99848,
0.02648,
0.49239
],
[
0.90948,
-0.03311,
-0.41442,
0.84629
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.01744,
0.00475,
0.99984,
0.90637
],
[
-0.05384,
0.99853,
-0.00569,
0.52168
],
[
-0.9984,
-0.05393,
-0.01716,
0.05474
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.84437,
-0.01866,
-0.53544,
-1.57907
],
[
0.03748,
0.999,
0.02429,
0.50281
],
[
0.53445,
-0.04058,
0.84423,
3.28515
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.38121,
0.03735,
-0.92373,
0.91115
],
[
0.03903,
0.99894,
0.02428,
0.50291
],
[
0.92366,
-0.0268,
-0.38227,
-0.18546
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.79835,
0.00011,
0.60219,
0.64482
],
[
-0.00012,
1.0,
-3e-05,
0.91083
],
[
-0.60219,
-5e-05,
0.79835,
5.02255
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.17277,
0.00128,
0.98496,
-1.50584
],
[
-0.00551,
0.99998,
-0.00226,
0.46605
],
[
-0.98495,
-0.00582,
-0.17276,
3.11864
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.99468,
-0.04512,
-0.09266,
3.22741
],
[
-0.04458,
0.99897,
-0.00789,
0.51095
],
[
0.09292,
-0.00372,
-0.99567,
0.40856
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
0.5384,
-2e-05,
0.84269,
-1.39917
],
[
-4e-05,
1.0,
5e-05,
0.43165
],
[
-0.84269,
-6e-05,
0.5384,
3.3979
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.82587,
-0.01852,
-0.56356,
3.97639
],
[
0.03901,
0.99894,
0.02433,
0.71463
],
[
0.56251,
-0.04208,
0.82572,
5.83971
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.55426,
0.00265,
0.83234,
0.80549
],
[
-0.00265,
0.99998,
-0.00495,
0.45702
],
[
-0.83234,
-0.00495,
-0.55424,
-0.07801
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.68913,
-0.00096,
-0.72464,
3.26414
],
[
0.00095,
1.0,
-0.00042,
0.4462
],
[
0.72464,
-0.0004,
0.68913,
1.25925
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.96116,
-0.00074,
0.276,
0.87144
],
[
-0.00594,
0.99971,
0.02337,
0.43468
],
[
-0.27594,
-0.0241,
0.96087,
-0.31604
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.54083,
0.0007,
0.84113,
0.66817
],
[
-5e-05,
1.0,
-0.0008,
0.77777
],
[
-0.84113,
0.00039,
0.54083,
6.70016
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
0.83497,
-0.04817,
0.54818,
0.32258
],
[
0.0411,
0.99884,
0.02518,
0.85084
],
[
-0.54875,
0.0015,
0.83598,
2.23798
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.94469,
0.00103,
-0.32796,
0.50351
],
[
0.00078,
1.0,
0.0009,
0.80465
],
[
0.32796,
0.0006,
-0.94469,
1.88706
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.97717,
0.00016,
0.21247,
0.59092
],
[
-0.00017,
1.0,
5e-05,
0.77776
],
[
-0.21247,
-8e-05,
0.97717,
6.57019
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
0.93966,
-4e-05,
-0.34211,
0.70275
],
[
5e-05,
1.0,
2e-05,
0.51512
],
[
0.34211,
-3e-05,
0.93966,
5.06346
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"013_apple.object_config.json",
[
[
0.98571,
0.16637,
-0.02644,
0.47536
],
[
-0.15944,
0.97204,
0.17239,
1.2835
],
[
0.05438,
-0.16571,
0.98467,
4.39662
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"024_bowl_:0001": [
[
0.29076,
0.0,
-0.9568,
-0.47307
],
[
0.0,
1.0,
0.0,
0.78957
],
[
0.9568,
0.0,
0.29076,
1.39545
],
[
0.0,
0.0,
0.0,
1.0
]
],
"013_apple_:0000": [
[
-0.67739,
0.0,
-0.73563,
-0.40579
],
[
0.0,
1.0,
0.0,
0.79801
],
[
0.73563,
0.0,
-0.67739,
1.51381
],
[
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
]
]
}