|
{ |
|
"episode_id": "1031", |
|
"scene_id": "data/replica_cad/configs/scenes/v3_sc1_staging_00.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": { |
|
"007_tuna_fish_can_:0000": "any_targets|0", |
|
"003_cracker_box_:0000": "any_targets|1", |
|
"024_bowl_:0000": "any_targets|2", |
|
"002_master_chef_can_:0000": "any_targets|3", |
|
"005_tomato_soup_can_:0000": "any_targets|4" |
|
} |
|
}, |
|
"ao_states": {}, |
|
"rigid_objs": [ |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
-0.98549, |
|
9e-05, |
|
-0.16975, |
|
1.54946 |
|
], |
|
[ |
|
9e-05, |
|
1.0, |
|
1e-05, |
|
0.43165 |
|
], |
|
[ |
|
0.16975, |
|
-1e-05, |
|
-0.98549, |
|
-0.21875 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
0.96085, |
|
0.04608, |
|
0.27322, |
|
-2.3734 |
|
], |
|
[ |
|
-0.04583, |
|
0.99892, |
|
-0.0073, |
|
0.86924 |
|
], |
|
[ |
|
-0.27326, |
|
-0.0055, |
|
0.96192, |
|
2.80246 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"024_bowl.object_config.json", |
|
[ |
|
[ |
|
0.54838, |
|
-0.0002, |
|
0.83623, |
|
1.47629 |
|
], |
|
[ |
|
5e-05, |
|
1.0, |
|
0.00021, |
|
0.44191 |
|
], |
|
[ |
|
-0.83623, |
|
-8e-05, |
|
0.54838, |
|
-0.05168 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
0.88878, |
|
0.00017, |
|
0.45833, |
|
-2.14367 |
|
], |
|
[ |
|
-9e-05, |
|
1.0, |
|
-0.00019, |
|
0.77777 |
|
], |
|
[ |
|
-0.45833, |
|
0.00013, |
|
0.88878, |
|
1.19367 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"005_tomato_soup_can.object_config.json", |
|
[ |
|
[ |
|
-0.93461, |
|
-0.00159, |
|
-0.35567, |
|
3.80599 |
|
], |
|
[ |
|
-0.00179, |
|
1.0, |
|
0.00023, |
|
0.45534 |
|
], |
|
[ |
|
0.35566, |
|
0.00085, |
|
-0.93461, |
|
5.52779 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
0.95795, |
|
-0.01784, |
|
-0.28639, |
|
-2.063 |
|
], |
|
[ |
|
0.01727, |
|
0.99984, |
|
-0.00453, |
|
0.77862 |
|
], |
|
[ |
|
0.28642, |
|
-0.0006, |
|
0.9581, |
|
1.31131 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
0.96286, |
|
-2e-05, |
|
0.27, |
|
0.5792 |
|
], |
|
[ |
|
2e-05, |
|
1.0, |
|
0.0, |
|
0.43176 |
|
], |
|
[ |
|
-0.27, |
|
0.0, |
|
0.96286, |
|
0.36603 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"009_gelatin_box.object_config.json", |
|
[ |
|
[ |
|
-0.66249, |
|
-0.00056, |
|
-0.74907, |
|
4.02927 |
|
], |
|
[ |
|
0.00041, |
|
1.0, |
|
-0.00112, |
|
0.64638 |
|
], |
|
[ |
|
0.74907, |
|
-0.00105, |
|
-0.66249, |
|
1.9704 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
-0.89847, |
|
1e-05, |
|
-0.43904, |
|
3.65907 |
|
], |
|
[ |
|
1e-05, |
|
1.0, |
|
0.0, |
|
0.42105 |
|
], |
|
[ |
|
0.43904, |
|
-0.0, |
|
-0.89847, |
|
5.60966 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"024_bowl.object_config.json", |
|
[ |
|
[ |
|
-0.83537, |
|
0.00032, |
|
-0.54968, |
|
2.12604 |
|
], |
|
[ |
|
0.00087, |
|
1.0, |
|
-0.00074, |
|
0.96164 |
|
], |
|
[ |
|
0.54968, |
|
-0.0011, |
|
-0.83537, |
|
5.57105 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"009_gelatin_box.object_config.json", |
|
[ |
|
[ |
|
-0.71118, |
|
1e-05, |
|
-0.70301, |
|
-1.97698 |
|
], |
|
[ |
|
1e-05, |
|
1.0, |
|
-0.0, |
|
0.87476 |
|
], |
|
[ |
|
0.70301, |
|
-1e-05, |
|
-0.71118, |
|
1.59976 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
-0.13539, |
|
4e-05, |
|
0.99079, |
|
2.41508 |
|
], |
|
[ |
|
4e-05, |
|
1.0, |
|
-3e-05, |
|
1.00477 |
|
], |
|
[ |
|
-0.99079, |
|
4e-05, |
|
-0.13539, |
|
6.34974 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
0.92928, |
|
-0.04409, |
|
0.36672, |
|
2.47132 |
|
], |
|
[ |
|
0.03849, |
|
0.999, |
|
0.02258, |
|
1.02232 |
|
], |
|
[ |
|
-0.36735, |
|
-0.00686, |
|
0.93006, |
|
6.18302 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
-0.04078, |
|
0.00553, |
|
0.99915, |
|
-2.18978 |
|
], |
|
[ |
|
-0.04555, |
|
0.99893, |
|
-0.00738, |
|
0.81373 |
|
], |
|
[ |
|
-0.99813, |
|
-0.04582, |
|
-0.04048, |
|
1.05887 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
0.45682, |
|
0.05817, |
|
-0.88766, |
|
-2.42694 |
|
], |
|
[ |
|
-0.10945, |
|
0.99395, |
|
0.00881, |
|
0.86965 |
|
], |
|
[ |
|
0.8828, |
|
0.09313, |
|
0.46042, |
|
2.56622 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.21549, |
|
0.00053, |
|
0.97651, |
|
-1.98585 |
|
], |
|
[ |
|
-0.00037, |
|
1.0, |
|
-0.00046, |
|
0.80465 |
|
], |
|
[ |
|
-0.97651, |
|
-0.00026, |
|
0.21549, |
|
3.53261 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
-0.01468, |
|
-0.00471, |
|
0.99988, |
|
3.5158 |
|
], |
|
[ |
|
0.00098, |
|
0.99999, |
|
0.00472, |
|
0.44625 |
|
], |
|
[ |
|
-0.99989, |
|
0.00105, |
|
-0.01467, |
|
6.12853 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"024_bowl.object_config.json", |
|
[ |
|
[ |
|
-0.0152, |
|
0.00017, |
|
-0.99988, |
|
2.40537 |
|
], |
|
[ |
|
0.00023, |
|
1.0, |
|
0.00016, |
|
0.96166 |
|
], |
|
[ |
|
0.99988, |
|
-0.00023, |
|
-0.0152, |
|
5.80256 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"005_tomato_soup_can.object_config.json", |
|
[ |
|
[ |
|
0.97066, |
|
-7e-05, |
|
-0.24044, |
|
0.52068 |
|
], |
|
[ |
|
0.00125, |
|
0.99999, |
|
0.00478, |
|
0.4662 |
|
], |
|
[ |
|
0.24044, |
|
-0.00494, |
|
0.97065, |
|
0.27306 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"008_pudding_box.object_config.json", |
|
[ |
|
[ |
|
0.98068, |
|
0.00898, |
|
-0.19539, |
|
1.37317 |
|
], |
|
[ |
|
-0.0051, |
|
0.99978, |
|
0.02034, |
|
0.43439 |
|
], |
|
[ |
|
0.19553, |
|
-0.01895, |
|
0.98051, |
|
0.05802 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
-0.9632, |
|
9e-05, |
|
0.2688, |
|
0.58386 |
|
], |
|
[ |
|
0.00014, |
|
1.0, |
|
0.00017, |
|
0.4569 |
|
], |
|
[ |
|
-0.2688, |
|
0.0002, |
|
-0.9632, |
|
0.1997 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
0.84861, |
|
0.0031, |
|
0.52901, |
|
4.03931 |
|
], |
|
[ |
|
-0.00263, |
|
1.0, |
|
-0.00164, |
|
0.70196 |
|
], |
|
[ |
|
-0.52901, |
|
0.0, |
|
0.84862, |
|
1.59457 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"003_cracker_box.object_config.json", |
|
[ |
|
[ |
|
0.98377, |
|
0.04762, |
|
-0.17298, |
|
3.81589 |
|
], |
|
[ |
|
-0.04969, |
|
0.99874, |
|
-0.00763, |
|
0.73811 |
|
], |
|
[ |
|
0.1724, |
|
0.0161, |
|
0.9849, |
|
1.96492 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.66494, |
|
0.00627, |
|
0.74687, |
|
-1.97833 |
|
], |
|
[ |
|
-0.00167, |
|
0.99997, |
|
-0.00691, |
|
0.80478 |
|
], |
|
[ |
|
-0.74689, |
|
0.00335, |
|
0.66494, |
|
3.65814 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"005_tomato_soup_can.object_config.json", |
|
[ |
|
[ |
|
0.15454, |
|
0.00011, |
|
-0.98799, |
|
-2.24092 |
|
], |
|
[ |
|
-0.00014, |
|
1.0, |
|
9e-05, |
|
0.91083 |
|
], |
|
[ |
|
0.98799, |
|
0.00012, |
|
0.15454, |
|
0.79221 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"007_tuna_fish_can.object_config.json", |
|
[ |
|
[ |
|
-0.97401, |
|
1e-05, |
|
0.2265, |
|
3.52275 |
|
], |
|
[ |
|
1e-05, |
|
1.0, |
|
-0.0, |
|
0.42105 |
|
], |
|
[ |
|
-0.2265, |
|
-0.0, |
|
-0.97401, |
|
6.52532 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"010_potted_meat_can.object_config.json", |
|
[ |
|
[ |
|
0.44657, |
|
-0.00024, |
|
-0.89475, |
|
-2.13781 |
|
], |
|
[ |
|
-5e-05, |
|
1.0, |
|
-0.00029, |
|
0.80465 |
|
], |
|
[ |
|
0.89475, |
|
0.00018, |
|
0.44657, |
|
2.62303 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"004_sugar_box.object_config.json", |
|
[ |
|
[ |
|
0.99852, |
|
-0.04066, |
|
-0.03612, |
|
0.51001 |
|
], |
|
[ |
|
0.04159, |
|
0.99881, |
|
0.02545, |
|
0.50311 |
|
], |
|
[ |
|
0.03504, |
|
-0.02692, |
|
0.99902, |
|
0.57111 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"008_pudding_box.object_config.json", |
|
[ |
|
[ |
|
-0.2922, |
|
0.02018, |
|
-0.95615, |
|
3.84842 |
|
], |
|
[ |
|
-0.00503, |
|
0.99973, |
|
0.02264, |
|
0.65096 |
|
], |
|
[ |
|
0.95634, |
|
0.01143, |
|
-0.29202, |
|
1.61118 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
], |
|
[ |
|
"002_master_chef_can.object_config.json", |
|
[ |
|
[ |
|
0.4706, |
|
-0.00041, |
|
0.88235, |
|
-2.18368 |
|
], |
|
[ |
|
0.00029, |
|
1.0, |
|
0.00031, |
|
0.77776 |
|
], |
|
[ |
|
-0.88235, |
|
0.00011, |
|
0.4706, |
|
1.31203 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
] |
|
] |
|
], |
|
"targets": { |
|
"007_tuna_fish_can_:0000": [ |
|
[ |
|
-0.99871, |
|
0.0, |
|
-0.05087, |
|
-2.44447 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.87587 |
|
], |
|
[ |
|
0.05087, |
|
0.0, |
|
-0.99871, |
|
0.11054 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"003_cracker_box_:0000": [ |
|
[ |
|
0.11084, |
|
0.0, |
|
-0.99384, |
|
0.36932 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.52618 |
|
], |
|
[ |
|
0.99384, |
|
0.0, |
|
0.11084, |
|
0.47383 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"024_bowl_:0000": [ |
|
[ |
|
0.75891, |
|
0.0, |
|
0.6512, |
|
2.57259 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.96107 |
|
], |
|
[ |
|
-0.6512, |
|
0.0, |
|
0.75891, |
|
5.477 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"002_master_chef_can_:0000": [ |
|
[ |
|
-0.1251, |
|
0.0, |
|
-0.99214, |
|
0.65209 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.4844 |
|
], |
|
[ |
|
0.99214, |
|
0.0, |
|
-0.1251, |
|
0.44089 |
|
], |
|
[ |
|
0.0, |
|
0.0, |
|
0.0, |
|
1.0 |
|
] |
|
], |
|
"005_tomato_soup_can_:0000": [ |
|
[ |
|
0.6883, |
|
0.0, |
|
0.72542, |
|
1.48837 |
|
], |
|
[ |
|
0.0, |
|
1.0, |
|
0.0, |
|
0.46513 |
|
], |
|
[ |
|
-0.72542, |
|
0.0, |
|
0.6883, |
|
-0.30311 |
|
], |
|
[ |
|
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 |
|
], |
|
[ |
|
"frl_apartment_table_01_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0001", |
|
null |
|
], |
|
[ |
|
"kitchen_counter_:0000", |
|
0 |
|
], |
|
[ |
|
"frl_apartment_sofa_:0000", |
|
null |
|
] |
|
], |
|
"goal_receptacles": [ |
|
[ |
|
"kitchen_counter_:0000", |
|
0 |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_table_02_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0000", |
|
null |
|
], |
|
[ |
|
"frl_apartment_chair_01_:0001", |
|
null |
|
] |
|
] |
|
} |