Hugging Face's logo

Datasets:
haosulab
/
ReplicaCAD

ArXiv:
License:
Dataset card Files Community
4
ReplicaCAD / rearrange /v1_extracted /train /tidy_house /episode_1019.json
arth-shukla's picture
arth-shukla
rearrange/v1 task data from habitat-sim
caca501 verified
raw
history blame
26.8 kB
{
"episode_id": "1019",
"scene_id": "data/replica_cad/configs/scenes/v3_sc2_staging_02.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": {
"004_sugar_box_:0000": "any_targets|0",
"004_sugar_box_:0001": "any_targets|1",
"010_potted_meat_can_:0000": "any_targets|2",
"005_tomato_soup_can_:0000": "any_targets|3",
"009_gelatin_box_:0000": "any_targets|4"
}
},
"ao_states": {},
"rigid_objs": [
[
"004_sugar_box.object_config.json",
[
[
0.99728,
-0.03634,
-0.06405,
3.86443
],
[
0.03797,
0.99898,
0.02434,
0.50307
],
[
0.0631,
-0.0267,
0.99765,
4.03695
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.62837,
0.04352,
-0.7767,
-2.07018
],
[
0.03914,
0.99894,
0.0243,
0.79516
],
[
0.77693,
-0.01513,
-0.62941,
1.94618
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.58301,
-0.00012,
-0.81247,
-2.41702
],
[
-4e-05,
1.0,
-0.00012,
0.90168
],
[
0.81247,
-4e-05,
-0.58301,
3.14743
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.59316,
-0.00303,
0.80508,
1.11024
],
[
-0.00569,
0.99998,
-0.00043,
0.45536
],
[
-0.80507,
-0.00484,
-0.59317,
3.91596
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
0.76506,
-0.0,
-0.64396,
1.07094
],
[
0.0,
1.0,
0.0,
0.42987
],
[
0.64396,
-0.0,
0.76506,
6.42898
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.39386,
-0.01927,
0.91897,
0.20295
],
[
-0.0059,
0.99971,
0.02349,
0.95374
],
[
-0.91915,
-0.01468,
0.39363,
0.07915
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"007_tuna_fish_can.object_config.json",
[
[
-0.99985,
1e-05,
-0.01749,
-1.76818
],
[
1e-05,
1.0,
1e-05,
0.64348
],
[
0.01749,
1e-05,
-0.99985,
3.57682
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.89037,
0.00056,
-0.45524,
2.52979
],
[
0.00124,
1.0,
-0.00121,
0.80472
],
[
0.45523,
-0.00165,
-0.89037,
7.21515
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.02589,
-0.02329,
0.99939,
-2.09076
],
[
0.03913,
0.99894,
0.02429,
0.79516
],
[
-0.9989,
0.03973,
-0.02495,
2.11281
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.06532,
1e-05,
-0.99786,
-2.03811
],
[
3e-05,
1.0,
2e-05,
0.90168
],
[
0.99786,
-3e-05,
0.06532,
2.85036
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.77567,
-9e-05,
0.63114,
-0.70789
],
[
-0.00028,
1.0,
0.00048,
0.69728
],
[
-0.63114,
-0.00055,
0.77567,
3.50766
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
-0.71447,
-0.00145,
0.69967,
-1.7434
],
[
-0.00036,
1.0,
0.00171,
0.6686
],
[
-0.69967,
0.00097,
-0.71447,
3.28066
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"004_sugar_box.object_config.json",
[
[
-0.43914,
0.03774,
-0.89762,
2.07356
],
[
0.04039,
0.99894,
0.02224,
0.85077
],
[
0.89751,
-0.02649,
-0.4402,
7.49118
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"024_bowl.object_config.json",
[
[
-0.68831,
-2e-05,
0.72542,
-1.93132
],
[
-2e-05,
1.0,
1e-05,
0.88719
],
[
-0.72542,
-0.0,
-0.68831,
0.63924
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.99417,
0.00837,
-0.10746,
-2.43746
],
[
-0.00589,
0.99971,
0.02339,
0.87927
],
[
0.10763,
-0.02262,
0.99393,
2.81015
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.85183,
-0.0348,
0.52266,
3.99905
],
[
-0.04532,
0.99895,
-0.00733,
0.52167
],
[
-0.52185,
-0.02993,
-0.85251,
3.67323
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.41916,
-0.02552,
-0.90756,
1.46584
],
[
-0.04879,
0.99879,
-0.00556,
0.86942
],
[
0.9066,
0.04195,
-0.41989,
7.2266
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
0.47138,
0.01601,
-0.88178,
1.24016
],
[
-0.00409,
0.99986,
0.01597,
0.95375
],
[
0.88192,
-0.00392,
0.47138,
0.2826
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.3845,
-0.01071,
0.92306,
0.47747
],
[
-0.04558,
0.99893,
-0.00739,
1.04074
],
[
-0.922,
-0.04492,
-0.38458,
-0.26651
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.35487,
0.0012,
0.93491,
1.09754
],
[
-0.00558,
0.99998,
-0.00341,
0.46567
],
[
-0.9349,
-0.00643,
-0.35486,
6.24534
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"008_pudding_box.object_config.json",
[
[
-0.83808,
0.00855,
-0.54549,
0.85608
],
[
-0.0063,
0.99966,
0.02535,
0.43457
],
[
0.54552,
0.02468,
-0.83774,
6.20293
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.14726,
0.00564,
0.98908,
-2.09999
],
[
0.01613,
0.99986,
-0.0033,
0.91085
],
[
-0.98897,
0.01547,
-0.14733,
0.23186
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"002_master_chef_can.object_config.json",
[
[
0.42295,
-3e-05,
-0.90615,
3.82167
],
[
2e-05,
1.0,
-2e-05,
0.48552
],
[
0.90615,
-1e-05,
0.42295,
3.83977
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"010_potted_meat_can.object_config.json",
[
[
0.62952,
-0.00015,
0.77698,
-2.37116
],
[
7e-05,
1.0,
0.00014,
0.90168
],
[
-0.77698,
-3e-05,
0.62952,
2.42349
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.99902,
0.03303,
0.02957,
1.00662
],
[
0.03323,
0.99943,
0.00625,
0.51234
],
[
-0.02934,
0.00722,
-0.99954,
3.86314
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.63249,
-0.02388,
0.7742,
2.36877
],
[
-0.0455,
0.99894,
-0.00637,
0.86934
],
[
-0.77323,
-0.03926,
-0.63291,
7.53094
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
-0.98371,
-0.00144,
-0.17978,
1.79377
],
[
-0.00145,
1.0,
-7e-05,
0.45534
],
[
0.17978,
0.00019,
-0.98371,
3.99321
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"005_tomato_soup_can.object_config.json",
[
[
0.62047,
0.0,
-0.78423,
-2.16041
],
[
4e-05,
1.0,
3e-05,
0.75829
],
[
0.78423,
-5e-05,
0.62047,
1.8351
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"009_gelatin_box.object_config.json",
[
[
-0.12918,
-0.0,
-0.99162,
1.15639
],
[
0.0,
1.0,
-0.0,
0.94922
],
[
0.99162,
-0.0,
-0.12918,
0.1709
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
[
"003_cracker_box.object_config.json",
[
[
-0.58748,
-0.0328,
-0.80857,
-2.45148
],
[
-0.04566,
0.99893,
-0.00735,
0.96627
],
[
0.80795,
0.0326,
-0.58835,
2.59243
],
[
0.0,
0.0,
0.0,
1.0
]
]
]
],
"targets": {
"004_sugar_box_:0000": [
[
-0.68683,
0.0,
0.72682,
0.01812
],
[
0.0,
1.0,
0.0,
1.02157
],
[
-0.72682,
0.0,
-0.68683,
-0.29399
],
[
0.0,
0.0,
0.0,
1.0
]
],
"004_sugar_box_:0001": [
[
-0.15468,
0.0,
0.98796,
3.96474
],
[
0.0,
1.0,
0.0,
0.50232
],
[
-0.98796,
0.0,
-0.15468,
3.86873
],
[
0.0,
0.0,
0.0,
1.0
]
],
"010_potted_meat_can_:0000": [
[
-0.53863,
0.0,
-0.84254,
3.72584
],
[
0.0,
1.0,
0.0,
0.45609
],
[
0.84254,
0.0,
-0.53863,
3.77852
],
[
0.0,
0.0,
0.0,
1.0
]
],
"005_tomato_soup_can_:0000": [
[
-0.53691,
0.0,
-0.84364,
-2.23156
],
[
0.0,
1.0,
0.0,
0.75749
],
[
0.84364,
0.0,
-0.53691,
1.87924
],
[
0.0,
0.0,
0.0,
1.0
]
],
"009_gelatin_box_:0000": [
[
-0.55285,
0.0,
-0.83328,
1.02133
],
[
0.0,
1.0,
0.0,
0.94861
],
[
0.83328,
0.0,
-0.55285,
-0.26562
],
[
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": [
[
"frl_apartment_chair_01_:0001",
null
],
[
"kitchen_counter_:0000",
0
],
[
"kitchen_counter_:0000",
0
],
[
"frl_apartment_sofa_:0000",
null
],
[
"frl_apartment_chair_01_:0000",
null
]
],
"goal_receptacles": [
[
"frl_apartment_table_02_:0000",
null
],
[
"frl_apartment_chair_01_:0001",
null
],
[
"frl_apartment_chair_01_:0001",
null
],
[
"kitchen_counter_:0000",
0
],
[
"frl_apartment_table_02_:0000",
null
]
]
}